Running over unknown rough terrain with a one-legged planar robot.

@article{Andrews2011RunningOU,
  title={Running over unknown rough terrain with a one-legged planar robot.},
  author={B.P.E. David Andrews and Bruce D. Miller and John Schmitt and Jonathan E. Clark},
  journal={Bioinspiration \& biomimetics},
  year={2011},
  volume={6 2},
  pages={
          026009
        }
}
The ability to traverse unknown, rough terrain is an advantage that legged locomoters have over their wheeled counterparts. However, due to the complexity of multi-legged systems, research in legged robotics has not yet been able to reproduce the agility found in the animal kingdom. In an effort to reduce the complexity of the problem, researchers have developed single-legged models to gain insight into the fundamental dynamics of legged running. Inspired by studies of animal locomotion… 
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