@article{miller_brown_clark_2015, title={On Prismatic and Torsional Actuation for Running Legged Robots}, DOI={10.1007/978-3-319-23778-7_2}, journal={Experimental Robotics Springer Tracts in Advanced Robotics}, author={Miller, Bruce D. and Brown, Jason M. and Clark, Jonathan E.}, year={2015}, pages={17–31}}