Swing-leg retraction: a simple control model for stable running

By André Seyfarth, Hartmut Geyer, Hugh M. Herr. Journal of Experimental Biology, 2003

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The Dynamics of Legged Locomotion: Models, Analyses, and Challenges (2006, background): “The same model also describes the gross dynamics of legged machines such as RHex [13] [11] [208], and as we shall show in section 5, a second template model”
Manuscript: Stable Running with Segmented Legs ¤ (2008, positive): “Due to the reduced number of system parameters, the natural dynamics of such template models can be used to derive simple control strategies further enhancing stability or even stabilizing periodic solutions which are unstable without control (Schmitt and Holmes, 2000; Seyfarth et al., 2003 ).”
Deep reinforcement learning for tensegrity robot locomotion (2016, background): “Previous work in robotic locomotion has produced successful bipedal locomotion using passive-dynamic walkers [24] and virtual model control [25], as well as springmass running based on biological models [26].”