Submitted by F. Royo
The new kind of gait for humanoid robots has been presented in the IROS '08 (M. Arbulu et. al.).
It has been developed and implemented in the HRP-2 humanoid robot by a member of the roboticslab, during its research stage in the AIST (National Institute
of Advanced Industrial Science and Technology), Tsukuba, Japan (Sept.-Dec. 2007).
It was an honor for me to contribute of the roboticslab development.
You could watch some tests: