Benefits of an active spine supported bounding locomotion with a small compliant quadruped robot. - Mahdi Khoramshahi; Alexander Spröwitz; Alexandre Tuleu; Majid Nili Ahmadabadi; Auke Jan Ijspeert (ICRA, 2013)

Modular control of limit cycle locomotion over unperceived rough terrain. - Mostafa Ajallooeian; Sébastien Gay; Alexandre Tuleu; Alexander Spröwitz; Auke Jan Ijspeert (IROS, 2013)

Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot. - Federico L. Moro; Alexander Spröwitz; Alexandre Tuleu; Massimo Vespignani; Nikos G. Tsagarakis; Auke Jan Ijspeert; Darwin G. Caldwell (Biol. Cybern., 2013)

Towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot. - Alexander Spröwitz; Alexandre Tuleu; Massimo Vespignani; Mostafa Ajallooeian; Emilie Badri; Auke Jan Ijspeert (Int. J. Robotics Res., 2013)

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs. - Alexander Spröwitz; Mostafa Ajallooeian; Alexandre Tuleu; Auke Jan Ijspeert (Frontiers Comput. Neurosci., 2014)

Friction and damping of a compliant foot based on granular jamming for legged robots. - Simon Hauser; Peter Eckert; Alexandre Tuleu; Auke Jan Ijspeert (BioRob, 2016)

Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs. - Alexander Spröwitz; Alexandre Tuleu; Mostafa Ajaoolleian; Massimo Vespignani; Rico Moeckel; Peter Eckert; Michiel D'Haene; Jonas Degrave; Arne Nordmann; Benjamin Schrauwen; Jochen J. Steil; Auke Jan Ijspeert (CoRR, 2018)

Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs. - Alexander Spröwitz; Alexandre Tuleu; Mostafa Ajallooeian; Massimo Vespignani; Rico Möckel; Peter Eckert; Michiel D'Haene; Jonas Degrave; Arne Nordmann; Benjamin Schrauwen; Jochen J. Steil; Auke Jan Ijspeert (Frontiers Robotics AI, 2018)