@article{oai:nagoya.repo.nii.ac.jp:00012437, author = {Harata, Yuji and Asano, Fumihiko and Luo, Zhi-Wei and Taji, Kouichi and Uno, Yoji}, journal = {ROBOTICA}, month = {Dec}, pages = {1063--1073}, title = {Biped gait generation based on parametric excitation by knee-joint actuation}, volume = {27}, year = {2009} }