Optimal multi-criteria humanoid robot gait synthesis - An evolutionary approach. Capi, G., Yokota, M., & Mitobe, K. International Journal of Innovative Computing Information and Control, 2(6):1249--1258, December, 2006.
bibtex   
@article{Capi06,
  author = {Genci Capi and Masao Yokota and Kazuhisa Mitobe},
  title = {{Optimal multi-criteria humanoid robot gait synthesis - An evolutionary approach}},
  journal = {International Journal of Innovative Computing Information and Control},
  volume = {2},
  number = {6},
  pages = {1249--1258},
  month = {December},
  year = {2006}
}
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