Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots
Walking Robots and the Central and Peripheral Control of Locomotion in Insects
Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot
Central pattern generators for locomotion control in animals and robots: A review
Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot
"Cheap" Rapid Locomotion of a Quadruped Robot: Self-Stabilization of Bounding Gait