A Stance Period Approach for Simplified Observation of Galloping as Applied to Canines. Singh, S. P. N. & Waldron, K. J. Robotica, 30(4):627-633, July, 2012.
doi  bibtex   
@ARTICLE{robotica.2012,
  author = {S. P. N. Singh and K. J. Waldron},
  title = {A Stance Period Approach for Simplified Observation of Galloping
	as Applied to Canines},
  journal = {Robotica},
  year = {2012},
  volume = {30},
  pages = {627-633},
  number = {4},
  month = jul,
  doi = {10.1017/S0263574711000488},
  pdf = {robotica.2012},
  review = {robotica.inpress}
}

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