We found a matchYour institution may have access to this item. Find your institution then sign in to continue.TitleComputer optimization of a minimal biped model discovers walking and running.AuthorsSrinivasan, Manoj; Ruina, AndyPublicationNature, 2006, Vol 439, Issue 7072, p72ISSN0028-0836Publication typearticleDOI10.1038/nature04113