@article {IOPORT.50045629,
    author       = {Kinugasa, T. and Chevallereau, Christine and Aoustin, Yannick},
    title        = {Effect of circular arc feet on a control law for a biped},
    year         = {2009},
    journal      = {Robotica},
    volume       = {27},
    number       = {4},
    pages        = {621-632},
    doi          = {10.1017/S0263574708005006},
    identifier   = {50045629},
}