@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.} }