Citation

@article{debenedittis2025soft,
 author={De Benedittis, Davide and Angelini, Franco and Garabini, Manolo},
 journal={IEEE Transactions on Systems, Man, and Cybernetics: Systems}, 
 title={Soft Bilinear Inverted Pendulum: A Model to Enable Locomotion With Soft Contacts}, 
 year={2025},
 volume={55},
 number={2},
 pages={1478-1491},
 doi={10.1109/TSMC.2024.3504342}}