@ARTICLE{Lopes2014ModelingControlLegged,
author={G.A.D. Lopes and B. Kersbergen and T.J.J. van den Boom and B. {D}e Schutter and R. Babu{\v{s}}ka},
title={Modeling and Control of Legged Locomotion via Switching Max-Plus Models},
journal = {IEEE Transactions on Robotics},
year = {2014},
volume = {30},
number={3},
pages = {652--665},
}