Shuuji Kajita Fumio Kanehiro Kenji Kaneko Kiyoshi Fujiwara Kazuhito Yokoi Hirohisa Hirukawa A Realtime Pattern Generator for Biped Walking. 31-37 2002 conf/icra/2002 ICRA db/conf/icra/icra2002.html#KajitaKKFYH02