Introduction to Humanoid Robotics - Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi; Hirohisa Hirukawa; Kazuhito Yokoi; Kensuke Harada; Harada, Kensuke; Hirukawa, Hirohisa; Yokoi, Kazuhito (Springer Berlin Heidelberg, 2014)