Efficient Trotting of Soft Robotic Quadrupeds. - Dimuthu D. K. Arachchige; Tim Sheehan; Dulanjana M. Perera; Sanjaya Mallikarachchi; Umer Huzaifa; Iyad Kanj; Isuru S. Godage (IEEE Trans Autom. Sci. Eng., 2025)