title = {A Learning Strategy for the Control of a One-Legged Hopping Robot},
  booktitle = {American Control Conference, 1989},
  year = {1989},
  month = jun,
  pages = {896-901},
  keywords = {Control systems, Energy loss, legged locomotion, Limit-cycles, Motion control, neural networks, Numerical simulation, Orbital robotics, Robot control, state-space methods},
  author = {Helferty, John J. and Collins, Joseph B. and Wong, Lon Cheong and Kam, Moshe}