@article{CTT100585046,
  author = {Shigeo Hirose and Yasushi Fukuda and Kan Yoneda and Akihiko Nagakubo and Hideyuki Tsukagoshi and Keisuke Arikawa and Gen Endo and Takahiro Doi and Ryuichi Hodoshima},
  title = {Quadruped Walking Robots at Tokyo Institute of Technology: Design, Analysis, and Gait Control Methods},
  journal = {IEEE Robotics and Automation Magazine},
  year = 2009,
}