@BOOK{m.arbulu2009climbingandwalking,
CHAPTER = {The Rh-1 full-size humanoid robot: Control system design and Walking pattern generation},
TITLE = {Climbing and Walking Robots},
PUBLISHER = {IN-TECH},
ISBN = {978-953-307-030},
CITY = {},
PAGES = {0 - 0},
YEAR = {2009},
AUTHOR = {M. Arbulu, D. Kaynov, C. Balaguer}
}