Kojiro Matsushita Max Lungarella Chandana Paul Hiroshi Yokoi Locomoting with Less Computation but More Morphology. 2008-2013 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#MatsushitaLPY05 https://doi.org/10.1109/ROBOT.2005.1570408