?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aulast=Abad&rft.aufirst=S-A&rft.au=Abad%2C+S-A&rft.issue=6&rft.date=December+2019&rft.volume=35&rft.title=IEEE+Transactions+on+Robotics&rft.atitle=Significance+of+the+Compliance+of+the+Joints+on+the+Dynamic+Slip+Resistance+of+a+Bioinspired+Hoof&rft.pages=1450-1463&rft.genre=article