Sudheer, A., Vijayakumar, R., & Mohandas, K. (2012). Stable Gait Synthesis and Analysis of a 12-degree of Freedom Biped Robot in Sagittal and Frontal Planes,. Journal of Automation, Mobile Robotics and Intelligent Systems, 6(4), 36-44. https://www.jamris.org/index.php/JAMRIS/article/view/244