A Biped Locomotion Strategy for the Quadruped Robot Sony ERS-210. Zonfrilli, F., Oriolo, G., & Nardi, D. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2002.
bibtex   
@inproceedings{aibo-walk-02,
        Author = {Fabio Zonfrilli and Giuseppe Oriolo and Daniele Nardi},
        Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
        Title = {A Biped Locomotion Strategy for the Quadruped Robot {Sony ERS-210}},
        Year = {2002}}

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