Shake it like a (robotic) salt shaker

BoingBoing reader Roland Piquepaille says:
In "Robot belly-dancer shakes her stuff," Nature says that a belly-dancing robot, inspired by Lucy Liu in the film Charlie's Angels, and built by Jimmy Or of Waseda University in Tokyo, is controlled by a computer program mimicking a lamprey, a kind of primitive eel. "To generate the robot's undulations, Or borrowed a computer program built by Swedish researchers that simulates a network of nerves in the lamprey called a central pattern generator (CPG). The CPG directs the lamprey's movements without the help of the brain or sensory feedback." This summary contains short excerpts as well as references to a simulated lamprey -- and of course, a picture.