TY  - RPRT
TI  - A simple model of a quadruped discovers single-foot walking and trotting as energy optimal strategies
AU  - Polet, D. T.
AU  - Bertram, J. E. A.
PY  - 2019
DO  - 10.1101/580779
UR  - https://www.biorxiv.org/content/10.1101/580779v1
ID  - 10.1101/580779
ER  -