@InProceedings{Lopes2009SwitchingMaxPlus, author = {G.A.D. Lopes and R. Babu\v{s}ka and B. De Schutter and A.J.J. van den Boom}, title = {Switching Max-Plus Models for Legged Locomotion}, booktitle = {Proceedings {IEEE} International Conference on Robotics and Biomimetics}, year = {2009}, address = {Guilin, China}, month = dec, pages = {221--226} }