@inbook {848,
	title = {Multi-step Forward Dynamic Gait Simulation},
	booktitle = {Multibody Dynamics},
	volume = {12 of Computational Methods in Applied Sciences},
	year = {2009},
	publisher = {Springer},
	organization = {Springer},
	author = {M Millard and John McPhee and E Kubica},
	editor = {C. Bottasso}
}
