Richard Altendorfer Uluc Saranli Haldun Komsuoglu Daniel E. Koditschek H. Benjamin Brown Jr. Martin Buehler Ned Moore Dave McMordie Robert J. Full Evidence for Spring Loaded Inverted Pendulum Running in a Hexapod Robot. 291-302 http://link.springer.de/link/service/series/0642/bibs/1271/12710291.htm 2000 conf/iser/2000 ISER db/conf/iser/iser2000.html#AltendorferSKKBBMMF00