@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} }