1. Movies of the spring-mass hopper are, available at http://birg.epfl.ch
2. Open Dynamics Engine Documentation, available at http://ode.org
3. Blickhan, R., Full, R.J.: Similarity in multilegged locomotion: bouncing like a monopode. Journal of Comparative Physiology 173, 509–517 (1993)
4. Buchli, J., Ijspeert, A.J.: A simple, adaptive locmotion toy-system. In: Schaal, S., Ijspeert, A.J., Billard, A., Vijayakumar, S., Hallam, J., Meyer, J.A. (eds.) Proceedings SAB 2004. MIT Press, Cambridge (2004)
5. Buehler, M., Battaglia, R., Cocosco, R., Hawker, G., Sarkis, J., Yamazaki, K.: SCOUT: a simple quadruped that walks, climbs, and runs. In: Proceedings ICRA, vol. 2, pp. 1707–1712 (1998)