@article{fisher2019intermediate,
  title={Do Intermediate Gaits Matter When Rapidly Accelerating?},
  author={Fisher, Callen and Hubicki, Christian and Patel, Amir},
  journal={IEEE Robotics and Automation Letters},
  volume={4},
  number={4},
  pages={3418--3424},
  year={2019},
  publisher={IEEE}
}