\input zb-basic
\input zb-ioport
\iteman{io-port 50014165}
\itemau{Potkonjak, Veljko; Vukobratovic, Miomir}
\itemti{A generalized approach to modeling dynamics of human and humanoid motion}
\itemso{I. J. Humanoid Robotics 2, No. 1, 21-45 (2005).}
\itemcc{}
\itemut{}
\itemli{doi:10.1142/S0219843605000417}
\end