@inproceedings{d2014modelling,
  title={Modelling legged robot multi-body dynamics using hierarchical virtual prototype design},
  author={D’Imperio, Mariapaola and Cannella, Ferdinando and Chen, Fei and Catelani, Daniele and Semini, Claudio and Caldwell, Darwin G},
  booktitle={Conference on biomimetic and biohybrid systems},
  pages={59--71},
  year={2014},
  organization={Springer}
}