Philip Holmes, Robert J. Full, Daniel E. Koditschek, John Guckenheimer. The Dynamics of Legged Locomotion: Models, Analyses, and Challenges. SIAM Review, 48(2):207-304, 2006. [doi]
@article{HolmesFKG06,
title = {The Dynamics of Legged Locomotion: Models, Analyses, and Challenges},
author = {Philip Holmes and Robert J. Full and Daniel E. Koditschek and John Guckenheimer},
year = {2006},
doi = {10.1137/S0036144504445133},
url = {http://dx.doi.org/10.1137/S0036144504445133},
researchr = {https://researchr.org/publication/HolmesFKG06},
cites = {0},
citedby = {0},
journal = {SIAM Review},
volume = {48},
number = {2},
pages = {207-304},
}