A two-dimensional passive dynamic running biped with knees. - Dai Owaki; Masatoshi Koyama; Shin'ichi Yamaguchi; Shota Kubo; Akio Ishiguro (ICRA, 2010)

A 2-D Passive-Dynamic-Running Biped With Elastic Elements. - Dai Owaki; Masatoshi Koyama; Shin'ichi Yamaguchi; Shota Kubo; Akio Ishiguro (IEEE Trans. Robotics, 2011)