Predicting the Metabolic Energy Costs of Bipedalism using Evolutionary robotics. I.Sellers, W., Dennis, L. A., & Crompton, R. H. Journal of Experimental Biology, 206:1127–1136, 2003.
bibtex   
@Article{sellers:jeb2003,
   author       = "William I.Sellers and Louise A. Dennis and
                   Robin H. Crompton",
   title        = "Predicting the Metabolic Energy Costs of Bipedalism 
using Evolutionary robotics",
   journal      = "Journal of Experimental Biology",
   year 	       = 2003,
   volume       = 206,
   pages        = "1127--1136"}

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