@article{clever2018humanoid,
  title = {Humanoid Gait Generation in Complex Environments Based on Template Models and Optimality Principles Learned from Human Beings},
  author = {Clever, Debora and Hu, Yue and Mombaur, Katja},
  year = {2018},
  volume = {37},
  pages = {1184--1204},
  doi = {10.1177/0278364918765620},
  journal = {International Journal of Robotics Research},
  number = {10}
}

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