Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train. - Shin, Young Ha; Hong, Seungwoo; Woo, Sangyoung; Choe, Jonghun; Son, Harim; Kim, Gijeong; Kim, Joon-Ha; Lee, Kang Kyu; Hwangbo, Jemin; Park, Hae-Won (2022)