@article{schammass_caurin_valente_2001,  title={Control of a one-legged robot with energy savings},  volume={23},  ISSN={0100-7386},  url={https://doi.org/10.1590/S0100-73862001000100004},  DOI={10.1590/S0100-73862001000100004},  number={1},  journal={Journal of the Brazilian Society of Mechanical Sciences},  publisher={The Brazilian Society of Mechanical Sciences},  author={Schammass, A. and Caurin, G. A. P. and Valente, C. M. O.},  year={2001},  pages={41–48} }