# Legged Elastic Multibody Systems: Adjusting Limit Cycles to Close-to-Optimal Energy Efficiency

> Research article (IEEE Robotics and Automation Letters, 2016) · cited 10× · AI/ML

**Wikidata**: [openalex:W2559460007](https://www.wikidata.org/wiki/openalex:W2559460007)  
**Source**: https://4ort.xyz/entity/legged-elastic-multibody-systems-adjusting-limit-cycles-to-close-to-optimal-energy-efficiency