Bibtex entry

        author={B. Kersbergen and G.A.D. Lopes and T.J.J. van den Boom and B. {D}e Schutter and R. Babu{\v{s}}ka},
        title={Optimal gait switching for legged locomotion},
        booktitle={Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11)},
        address={San Francisco, California},

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