Yoshito Ikemata, Akihito Sano, Hideo Fujimoto. Generation and Local Stabilization of Fixed Point Based on a Stability Mechanism of Passive Walking. In 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy. pages 3218-3223, IEEE, 2007. [doi]