@incollection{XuCh11,
        Author = {Xue, Feng and Chen, Xiaoping and Liu, Jinsu and Nardi, Daniele},
        Booktitle = {RoboCup 2011: Robot Soccer World Cup XV},
        Doi = {10.1007/978-3-642-32060-6_18},
        Editor = {R{\"o}fer, Thomas and Mayer, N.Michael and Savage, Jesus and Saranlı, Uluc̨},
        Isbn = {978-3-642-32059-0},
        Pages = {210-221},
        Publisher = {Springer Berlin Heidelberg},
        Series = {Lecture Notes in Computer Science},
        Title = {Real Time Biped Walking Gait Pattern Generator for a Real Robot},
        Url = {http://dx.doi.org/10.1007/978-3-642-32060-6_18},
        Volume = {7416},
        Year = {2012},
        Bdsk-Url-1 = {http://dx.doi.org/10.1007/978-3-642-32060-6_18}}

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