@article{escidoc:2309869, title = {Towards Dynamic Trot Gait Locomotion: Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot}, author = {Spr{\"o}witz, Alexander and Tuleu, Alexandre and Vespignani, Massimo and Ajallooeian, Mostafa and Badri, Emilie and Ijspeert, Auke Jan}, journal = {{The International Journal of Robotics Research}}, volume = {32}, number = {8}, pages = {932--950}, publisher = {Sage Publications, Inc.}, address = {Cambridge, MA}, year = {2013}, doi = {10.1177/0278364913489205} }