L. Roussel Carlos Canudas de Wit Ambarish Goswami Generation of Energy Optimal Complete Gait Cycles for Biped Robots. 2036-2041 1998 conf/icra/1998 ICRA db/conf/icra/icra1998-3.html#RousselWG98 http://dx.doi.org/10.1109/ROBOT.1998.680615