Jie Yang Qiang Huang Jianxi Li Chenchen Li Kejie Li Walking Pattern Generation for Humanoid Robot Considering Upper Body Motion. 4441-4446 2006 IROS http://dx.doi.org/10.1109/IROS.2006.282078 conf/iros/2006 db/conf/iros/iros2006.html#YangHLLL06