[. Baratto, Complex motor patterns: Walking, Advances in Psychology, vol.33, pp.60-81, 1986.

G. Bullock, D. Bullock, and S. Grossberg, The vite model: a neural command circuit for generating arm and articulator trajectories. Dynamic patterns in complex systems, pp.305-326, 1988.

S. Rugy, A. Rugy, and D. Sternad, Interaction between discrete and rhythmic movements: reaction time and phase of discrete movement initiation during oscillatory movements, Brain Research, vol.994, issue.2, pp.160-174, 2003.

S. Degallier, A. Ijspeert, and . Degallier, Toward simple control for complex, autonomous robotic applications: combining discrete and rhythmic motor primitives, Biological cybernetics, vol.103, issue.4, pp.155-181, 2010.

A. Feldman, Superposition of motor programs-i. rhythmic forearm movements in man, Neuroscience, vol.5, issue.1, pp.81-90, 1980.

. Grillner, S. Wallen-;-grillner, and P. Wallen, Central pattern generators for locomotion, with special reference to vertebrates, Annual review of neuroscience, vol.8, issue.1, pp.233-261, 1985.

Y. Guiard, On fitts's and hooke's laws: Simple harmonic movement in upperlimb cyclical aiming, Acta psychologica, vol.82, issue.1-3, pp.139-159, 1993.

[. Jouaiti, Hebbian plasticity in cpg controllers facilitates self-synchronization for humanrobot handshaking, Frontiers in Neurorobotics, vol.12, p.29, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01811316

[. Jouaiti, M. Henaff-;-jouaiti, and P. Henaff, Cpg-based controllers can generate both discrete and rhythmic movements, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
URL : https://hal.archives-ouvertes.fr/hal-01837189

[. Lachaux, Measuring phase synchrony in brain signals, Human brain mapping, vol.8, issue.4, pp.194-208, 1999.

K. Matsuoka, Sustained oscillations generated by mutually inhibiting neurons Real Time Movement Classification in Versatile CPG Control with adaptation, Biological cybernetics, vol.52, issue.6, pp.367-376, 1985.

B. Mottet, D. Mottet, and R. J. Bootsma, The dynamics of goaldirected rhythmical aiming, Biological cybernetics, vol.80, issue.4, pp.235-245, 1999.

P. F. Rowat and A. I. Selverston, Modeling the gastric mill central pattern generator of the lobster with a relaxation-oscillator network, Journal of neurophysiology, vol.70, issue.3, pp.1030-1053, 1993.

[. Rybak, Modelling spinal circuitry involved in locomotor pattern generation: insights from deletions during fictive locomotion, The Journal of physiology, vol.577, issue.2, pp.617-639, 2006.

. Schaal, Towards a unified theory of rhythmic and discrete movementsbehavioral, modeling and imaging results, Coordination: Neural, behavioral and social dynamics, vol.7, pp.105-133, 2004.

. Sternad, Interaction of rhythmic and discrete pattern generators in single-joint movements, Human Movement Science, vol.19, issue.4, pp.627-664, 2000.