Jacky Baltes Patrick Lam 0002 Design of Walking Gaits for Tao-Pie-Pie, a Small Humanoid Robot. 355-365 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=3020&spage=355 2003 conf/robocup/2003 RoboCup db/conf/robocup/robocup2003.html#BaltesL03