@conference {aibo-walk-02,
	title = {A Biped Locomotion Strategy for the Quadruped Robot {Sony ERS-210}},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2002},
	author = {F. Zonfrilli and G. Oriolo and D. Nardi}
}
