@inproceedings{
KerLop:11-034,
author={B. Kersbergen and G.A.D. Lopes and T.J.J. van den Boom and B. {D}e
Schutter and R. Babu{\v{s}}ka},
title={Optimal Gait Switching for Legged Locomotion},
booktitle={Proceedings of the 2011 IEEE/RSJ International Conference on
Intelligent Robots and Systems (IROS'11)},
address={San Francisco, California},
pages={2729--2734},
month=sep,
year={2011},
doi={
10.1109/IROS.2011.6095166}
}