Kanako Miura Shinichiro Nakaoka Mitsuharu Morisawa Fumio Kanehiro Kensuke Harada Shuuji Kajita Analysis on a friction based "twirl" for biped robots. 4249-4255 2010 ICRA http://dx.doi.org/10.1109/ROBOT.2010.5509520 conf/icra/2010 db/conf/icra/icra2010.html#MiuraNMKHK10