@article{Shahbazi2016ApproximateAnalyticalSolutions,
title={Approximate analytical solutions to the double-stance dynamics of the lossy spring-loaded inverted pendulum},
author={M. Shahbazi and U. Saranl{\i} and R. Babu\v{s}ka and G.A.D. Lopes},
journal={Bioinspiration \& biomimetics},
volume={12},
number={1},
pages={016003},
year={2016}
}