Atsushi Yamada Masamitsu Watari Hiromi Mochiyama Hideo Fujimoto An asymmetric robotic catapult based on the closed elastica for jumping robot. 232-237 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543214 conf/icra/2008 db/conf/icra/icra2008.html#YamadaWMF08