1. Y. Fukuoka, H. Kimura, and A. H. Cohen, “Adaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts,” Int. J. Robotics Research, vol. 22, no. 3–4, pp. 287–202, 2003.
2. L. R. Palmer III and D. E. Orin, “Quadrupedal running at high speed over uneven terrain,” Proc. of IEEE Int. Conf. Intelligent Robots and Systems, San Diego, USA, pp. 303–308, 2007.
3. D._T. Tran, I. M. Koo, G. L. Vo, S. Roh, S. Park, H. Moon, and H. R. Choi, “A new method in modeling central pattern generators to control quadruped walking robots,” Proc. of IEEE Int. Conf. Intelligent Robots and Systems, St. Louis, USA, pp. 129–134, 2009.
4. P. Holmes, “The dynamics of legged locomotion: Models, Analyzes, and Challenges,” SIAM Reviews, vol. 48, no. 2, pp. 207–304, 2006.
5. J. E. Seipel and P. Holmes, “Running in three dimensions: analysis of a point-mass sprung-leg model,” Int. J. Robotics Research, vol. 24, no. 8, pp. 657–674, 2005.