@article{
LopKer:14-001,
author={G.A.D. Lopes and B. Kersbergen and T.J.J. van den Boom and B. {D}e
Schutter and R. Babu{\v{s}}ka},
title={Modeling and Control of Legged Locomotion via Switching Max-Plus
Models},
journal={IEEE Transactions on Robotics},
volume={30},
number={3},
pages={652--665},
month=jun,
year={2014},
doi={
10.1109/TRO.2013.2296105}
}