Generation of energy optimal complete gait cycles for biped robots. Roussel, L.; Canudas-De-Wit, C.; and Goswami, A. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 3, pages 2036--2041, 1998.
doi  bibtex   
@InProceedings{Roussel1998,
  Title                    = {Generation of energy optimal complete gait cycles for biped robots},
  Author                   = {L. Roussel and C. Canudas-De-Wit and A. Goswami},
  Booktitle                = {Proceedings of the IEEE International Conference on Robotics and Automation},
  Year                     = {1998},
  Pages                    = {2036--2041},
  Volume                   = {3},

  Doi                      = {10.1109/ROBOT.1998.680615},
  ISSN                     = {1050-4729},
  Keywords                 = {legged locomotion;optimal control;robot dynamics;biped robots;energy optimal complete gait cycles;piecewise constant inputs;unconstrained optimal trajectories;Control systems;Equations;Foot;Frequency;Ground support;Humans;Legged locomotion;Mobile robots;Path planning;Robotics and automation},
  Timestamp                = {2017.03.04}
}
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