G. Clark Haynes, Alfred A. Rizzi, Daniel E. Koditschek. Multistable phase regulation for robust steady and transitional legged gaits. I. J. Robotic Res., 31(14):1712-1738, 2012. [doi]
@article{HaynesRK12,
title = {Multistable phase regulation for robust steady and transitional legged gaits},
author = {G. Clark Haynes and Alfred A. Rizzi and Daniel E. Koditschek},
year = {2012},
doi = {10.1177/0278364912458463},
url = {http://dx.doi.org/10.1177/0278364912458463},
researchr = {https://researchr.org/publication/HaynesRK12},
cites = {0},
citedby = {0},
journal = {I. J. Robotic Res.},
volume = {31},
number = {14},
pages = {1712-1738},
}