%0 Journal Article %J INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL %D 2019 %T Analysis of series elasticity in locomotion of a planar bipedal robot %A S. Manara %A G M Gasparri %A M. Garabini %A D. Caporale %A M Gabiccini %A A. Bicchi %B INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL %G eng