@article{kormushev2019auro,
  title={Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid},
  author={Kormushev, Petar and Ugurlu, Barkan and Caldwell, Darwin G and Tsagarakis, Nikos G},
  journal={Autonomous Robots},
  pages={79--95},
  volume={43},
  issue={1},
  year={2019},
  month={January},
  issn="1573-7527",
  doi="10.1007/s10514-018-9697-6",
  url = "https://kormushev.com/papers/Kormushev_AURO-2019.pdf",
  publisher={Springer}
}