Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped. - Christian Hubicki; Andy Abate; Patrick Clary; Siavash Rezazadeh; Mikhail S. Jones; Andrew Peekema; Johnathan Van Why; Ryan Domres; Albert Wu; William C. Martin; Hartmut Geyer; Jonathan W. Hurst (IEEE Robotics Autom. Mag., 2018)