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We find that swing-leg retraction can improve stability and disturbance rejection. Alternatively, swing-leg retraction can simultaneously reduce touchdown forces, slipping likelihood, and impact energy losses. Surprisingly, swing-leg retraction barely affected net energetic efficiency. The retraction rates at which these effects are the greatest are strongly model-dependent, suggesting that robot designers cannot always rely on simplified models to accurately predict such complex behaviors.<\/jats:p>","DOI":"10.1017\/s0263574714001167","type":"journal-article","created":{"date-parts":[[2014,5,28]],"date-time":"2014-05-28T13:23:07Z","timestamp":1401283387000},"page":"2137-2155","source":"Crossref","is-referenced-by-count":33,"title":["The effects of swing-leg retraction on running performance: analysis, simulation, and experiment"],"prefix":"10.1017","volume":"33","author":[{"given":"J. G. 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