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An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal
Polet DT,
Bertram JEA
(2019)
An inelastic quadrupedal model discovers four-beat walking, two-beat running, and pseudo-elastic actuation as energetically optimal.
PLOS Computational Biology 15(11): e1007444.
https://doi.org/10.1371/journal.pcbi.1007444