@inbook {Wieber16,
	title = {Modeling and Control of Legged Systems},
	booktitle = {Springer Handbook of Robotics, 2nd Ed},
	year = {2016},
	publisher = {Springer},
	organization = {Springer},
	abstract = {The promise of legged robots over standard wheeled robots is to provide\&nbsp;improved mobility over rough terrain. This promise builds on the\&nbsp;decoupling between the environment and the main body of the robot that\&nbsp;the presence of articulated legs allows, with two consequences. First,\&nbsp;the motion of the main body of the robot can be made largely independent\&nbsp;from the roughness of the terrain, within the kinematic limits of the\&nbsp;legs: legs provide an active suspension system. Indeed, one of the most advanced\&nbsp;hexapod robots of the 1980s was aptly called the Adaptive Suspension\&nbsp;Vehicle. Second, this decoupling allows\&nbsp;legs to temporarily leave their contact with the ground: isolated\&nbsp;footholds on a discontinuous terrain can be overcome, allowing to visit\&nbsp;places absolutely out of reach otherwise. Note that having feet firmly\&nbsp;planted on the ground is not mandatory here: skating is an equally\&nbsp;interesting option, although rarely approached so far in robotics.
Unfortunately, this promise comes at the cost of a hindering increase in\&nbsp;complexity. It is only with the unveiling of the Honda P2 humanoid robot\&nbsp;in 1996, and later of the Boston Dynamics BigDog\&nbsp;quadruped robot in 2005 that legged robots finally began to deliver\&nbsp;real-life capacities that are just beginning to match the long sought\&nbsp;animal-like mobility over rough terrain. In fact, work in legged\&nbsp;robotics has even contributed to the understanding of human and animal\&nbsp;locomotion, as evidenced by the many fruitful collaborations between\&nbsp;robotics and biomechanics researchers over legged locomotion.},
	author = {Pierre-Brice Wieber and Russ Tedrake and Scott Kuindersma},
	editor = {Siciliano, Bruno and Khatib, Oussama}
}
