Alexander C. Shkolnik Michael Levashov Ian R. Manchester Russ Tedrake Bounding on rough terrain with the LittleDog robot. 192-215 2011 30 I. J. Robotic Res. 2 http://dx.doi.org/10.1177/0278364910388315 db/journals/ijrr/ijrr30.html#ShkolnikLMT11