@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} }