Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train. - Young Ha Shin; Seungwoo Hong; Sangyoung Woo; Jonghun Choe; Harim Son; Gijeong Kim; Joon-Ha Kim; Kang Kyu Lee; Jemin Hwangbo; Hae-Won Park 002 (ICRA, 2022)