A robot leg with compliant tarsus and its neural control for efficient and adaptive locomotion on complex terrains. - Giuliano Di Canio; Stoyan Stoyanov; Jørgen Christian Larsen; John Hallam; Alexandr Kovalev; T. Kleinteich; Stanislav N. Gorb; Poramate Manoonpong (Artif. Life Robotics, 2016)