André Seyfarth, Fumiya Iida, R. Tausch, Maximilian Stelzer, Oskar von Stryk, A. Karguth. Towards Bipedal Jogging as a Natural Result of Optimizing Walking Speed for Passively Compliant Three-Segmented Legs. I. J. Robotic Res., 28(2):257-265, 2009. [doi]
Abstract is missing.