Ken'ichiro Nagasaka Yoshihiro Kuroki Shin'ya Suzuki Yoshihiro Itoh Jin'ichi Yamaguchi Integrated Motion Control for Walking, Jumping and Running on a Small Bipedal Entertainment Robot. 3189-3194 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308745 db/conf/icra/icra2004-4.html#NagasakaKSIY04