Girard B, Tabareau N, Pham QC, Berthoz A, Slotine JJ. (2008). Where neuroscience and dynamic system theory meet autonomous robotics: a contracting basal ganglia model for action selection. Neural networks : the official journal of the International Neural Network Society. 21 [PubMed]
Humphries MD, Stewart RD, Gurney KN. (2006). A physiologically plausible model of action selection and oscillatory activity in the basal ganglia. The Journal of neuroscience : the official journal of the Society for Neuroscience. 26 [PubMed]