@misc{indiciaece3ce1e228d4,
  title = {Efficient bipedal robots based on passive-dynamic walkers.},
  author = {Steve Collins and Andy Ruina and Russ Tedrake and Martijn Wisse},
  year = {2005},
  doi = {10.1126/science.1107799},
  url = {https://pubmed.ncbi.nlm.nih.gov/15718465/},
  note = {Source identifier: 15718465}
}