Dynamics Simulation for a Biped Robot: Modeling and Experimental Verification.

Thomas Buschmann Sebastian Lohmeier Heinz Ulbrich Friedrich Pfeiffer Dynamics Simulation for a Biped Robot: Modeling and Experimental Verification. 2673-2678 2006 conf/icra/2006 ICRA db/conf/icra/icra2006.html#BuschmannLUP06