@ARTICLE{Shahbazi2016UnifiedModelingControl,
author = {M. Shahbazi and R. Babu\v{s}ka and G. A. D. Lopes},
journal = {IEEE Transactions on Robotics},
title = {Unified Modeling and Control of Walking and Running on the Spring-Loaded Inverted Pendulum},
volume = {32},
number = {5},
pages = {1178--1195},
year = {2016}
}