@inproceedings{Kersbergen2011OptimalGaitSwitching,
author={B. Kersbergen and G.A.D. Lopes and T.J.J. van den Boom and B. {D}e Schutter and R. Babu{\v{s}}ka},
title={Optimal gait switching for legged locomotion},
booktitle={Proceedings 2011 {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS'11})},
address={San Francisco, California},
pages={2729--2734},
month=sep,
year={2011},
}