@INBOOK{leetask-level2006,
  chapter = {Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion},
  title = {Fast Motions in Biomechanics and Roboticss: Optimization \& Feedback
	Control},
  publisher = {Springer},
  year = {2006},
  editor = {M. Diehl and K. Mombaur},
  author = {Jusuk Lee and Andrew Lamperski and John Schmitt and Noah Cowan},
  series = {Lecture Notes in Control and Information Sciences}
}