@ARTICLE{m.arbulu2009therh-1full-size, TITLE = {The Rh-1 full-size humanoid robot: design, walking pattern generation and control}, JOURNAL = {Journal of Applied Bionics and Biomechanics (Print ISSN: 1176-2322, Online: ISSN: 1754-2103)}, VOLUME = {6}, NUMBER = {3}, PAGES = {301 - 344}, YEAR = {2009}, AUTHOR = {M. Arbulu, D. Kaynov, L.M. Cabas, C. Balaguer} }