Xusheng Lei Jianbo Su Application of RBFNN for Humanoid Robot Real Time Optimal Trajectory Generation in Running. 1-6 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3174&spage=1 2004 conf/isnn/2004-2 ISNN (2) db/conf/isnn/isnn2004-2.html#LeiS04