@ARTICLE{m.arbulu2009real-timegaitplanning,
TITLE = {Real-Time Gait Planning for Rh-1 Humanoid Robot Using Local Axis Gait Algorithm },
JOURNAL = {International Journal of Humanoid Robotics. Print ISSN: 0219-8436. Online ISSN: 1793-6942},
VOLUME = {6},
NUMBER = {1},
PAGES = {71 - 91},
YEAR = {2009},
AUTHOR = {M. Arbulu, C. Balaguer}
}