@article{hubicki2016atrias, title = {ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot}, author = {Hubicki, Christian and Grimes, Jesse and Jones, Mikhail and Renjewski, Daniel and Spr{\"o}witz, Alexander and Abate, Andy and Hurst, Jonathan}, journal = {{The International Journal of Robotics Research}}, volume = {35}, number = {12}, pages = {1497--1521}, publisher = {Sage Publications, Inc.}, address = {Cambridge, MA}, year = {2016}, doi = {10.1177/0278364916648388} }