@misc{indiciae05a847fa404b,
  title = {A simple model of a quadruped discovers single-foot walking and trotting as energy optimal strategies},
  author = {Polet, D. T. and Bertram, J. E. A.},
  year = {2019},
  doi = {10.1101/580779},
  url = {https://www.biorxiv.org/content/10.1101/580779v1},
  note = {Source identifier: 10.1101/580779}
}