D. de Faria, M. Máximo, and L. Góes.
" Requirement derivation method for a legged robot with series-elastic actuators", in <em>Companion Proceedings of the 12th Brazilian Symposium of Robotics &amp; 17th Latin American Robotics Symposium</em>, Natal, 2020, pp. 61-72, doi: <a href="https://doi.org/10.5753/wtdr_ctdr.2020.14955">https://doi.org/10.5753/wtdr_ctdr.2020.14955</a>.