Michele Focchi Emanuele Guglielmino Claudio Semini Thiago Boaventura Cunha Yousheng Yang Darwin G. Caldwell Control of a hydraulically-actuated quadruped robot leg. 4182-4188 2010 ICRA https://doi.org/10.1109/ROBOT.2010.5509697 https://www.wikidata.org/entity/Q56425786 conf/icra/2010 db/conf/icra/icra2010.html#FocchiGSCYC10