Self-contained Measurement of Dynamic Legged Locomotion: Design for Robot and Field Environments. Singh, S. P. N. Ph.D. Thesis, Stanford University, 2006.
Self-contained Measurement of Dynamic Legged Locomotion: Design for Robot and Field Environments [link]Paper  bibtex   
@PHDTHESIS{thesis.spns,
  author = {S. P. N. Singh},
  title = {{Self-contained Measurement of Dynamic Legged Locomotion: Design
	for Robot and Field Environments}},
  school = {Stanford University},
  year = {2006},
  file = {SpnSthesis.pdf:http\://www-locolab.stanford.edu/Publications/SpnSthesis.pdf:PDF},
  url = {http://www-personal.acfr.usyd.edu.au/spns/thesis.html}
}

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