@article{galloway_clark_koditschek_2013, title={Variable Stiffness Legs for Robust, Efficient, and Stable Dynamic Running}, volume={5}, DOI={10.1115/1.4007843}, number={1}, journal={Journal of Mechanisms and Robotics}, author={Galloway, Kevin C. and Clark, Jonathan E. and Koditschek, Daniel E.}, year={2013}, pages={011009}}