@article{sprowitz_kinematic_2014, title = {Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs}, author = {Spr{\"o}witz, Alexander Thomas and Ajallooeian, Mostafa and Tuleu, Alexandre and Ijspeert, Auke Jan}, journal = {Frontiers in Computational Neuroscience}, volume = {8}, number = {27}, pages = {1--13}, year = {2014}, doi = {10.3389/fncom.2014.00027}, url = {http://journal.frontiersin.org/Journal/10.3389/fncom.2014.00027/abstract} }