@article{Khadivetal19, title = {Rigid vs compliant contact: an experimental study on biped walking}, author = {Khadiv, M. and Moosavian, S. A. A. and Yousefi-Koma, A. and Sadedel, M. and Ehsani-Seresht, A. and Mansouri, S.}, journal = {Multibody System Dynamics}, volume = {45}, number = {4}, pages = {379--401}, year = {2019}, doi = {10.1007/s11044-018-09653-1} }