@article {1100,
	title = {Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots},
	journal = {Robotics And Autonomous Systems},
	volume = {61},
	year = {2013},
	chapter = {1350-1359},
	author = {Khoramshahi, M. and Bidgoly, H. J. and Shafiee, S. and Asaei, A. and Ijspeert, A. J.}
}
