@poster{ruppert2020b, title = {How Quadrupeds Benefit from Lower Leg Passive Elasticity}, author = {Ruppert, Felix and Badri-Spr{\"o}witz, Alexander}, month = may, year = {2020}, doi = {}, url = {https://www.seas.upenn.edu/~posa/DynamicWalking2020/643-944-1-RV.pdf}, month_numeric = {5} }