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)