Dynamic locomotion and whole-body control for quadrupedal robots. Bellicoso, C. D., Jenelten, F., Fankhauser, P., Gehring, C., Hwangbo, J., & Hutter, M. In International Conference on Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ, pages 3359–3365, 2017. IEEE.
bibtex   
@inproceedings{bellicoso2017dynamic,
  title={Dynamic locomotion and whole-body control for quadrupedal robots},
  author={Bellicoso, C. Dario and Jenelten, Fabian and Fankhauser, P{\'e}ter and Gehring, Christian and Hwangbo, Jemin and Hutter, Marco},
  booktitle={International Conference on Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ},
  pages={3359--3365},
  year={2017},
  organization={IEEE}
}

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