TY - JOUR T1 - Analysis of series elasticity in locomotion of a planar bipedal robot JF - INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL Y1 - 2019 A1 - S. Manara A1 - G M Gasparri A1 - M. Garabini A1 - D. Caporale A1 - M Gabiccini A1 - A. Bicchi ER -