@inbook {Pub15.cap13,
	title = {Real Time Biped Walking Gait Pattern Generator for a Real Robot},
	booktitle = {Robocup 2011: Robot Soccer World Cup},
	volume = {7416},
	year = {2012},
	pages = {210-221},
	publisher = {Springer Berlin Heidelberg},
	organization = {Springer Berlin Heidelberg},
	doi = {10.1007/978-3-642-32060-6},
	author = {Xue, Feng and Chen, Xiaoping and Liu, Jinsu and D. Nardi},
	editor = {Thomas Rofer and N. Michael Mayer and Jesus Savage and Uluci Saranl}
}
@inbook {XuCh11,
	title = {Real Time Biped Walking Gait Pattern Generator for a Real Robot},
	booktitle = {RoboCup 2011: Robot Soccer World Cup XV},
	series = {Lecture Notes in Computer Science},
	volume = {7416},
	year = {2012},
	pages = {210-221},
	publisher = {Springer Berlin Heidelberg},
	organization = {Springer Berlin Heidelberg},
	isbn = {978-3-642-32059-0},
	doi = {10.1007/978-3-642-32060-6_18},
	url = {http://dx.doi.org/10.1007/978-3-642-32060-6_18},
	author = {Xue, Feng and Chen, Xiaoping and Liu, Jinsu and Nardi, Daniele},
	editor = {R{\"o}fer, Thomas and Mayer, N.Michael and Savage, Jesus and Saranl{\i}, Uluc̨}
}
