@article{horse_2013, title = {Horse-Like Walking, Trotting, and Galloping derived from Kinematic Motion Primitives (kMPs) and their Application to Walk/Trot Transitions in a Compliant Quadruped Robot}, author = {Moro, Federico and Spr{\"o}witz, Alexander and Tuleu, Alexandre and Vespignani, M. and Tsagakiris, Nikos G. and Ijspeert, A. J. and Caldwell, Darwin G.}, journal = {Biological Cybernetics}, volume = {107}, number = {3}, pages = {309--320}, year = {2013}, doi = {10.1007/s00422-013-0551-9} }