@article {Yamasaki:1 December 2003:0169-1864:779,
	author = "Yamasaki F.",
	author = "Endo K.",
	author = "Asada M.",
	author = "Kitano H.",
	title = "Control design principle of a low-cost humanoid system using a genetic algorithm",
	journal = "Advanced Robotics",
	volume = "17",
	year = "1 December 2003",
	abstract = "This paper describes a control method for stable walking of a low-cost humanoid in which a two-stage genetic algorithm is applied to find energy-efficient walking based on the inverted pendulum model and straight knee posture. The first stage is to achieve stable walking and the second to find energy-efficient walking. The simulation results are then applied to a real robot, which realizes stable walking with a smooth motion and low energy consumption. From these results, it is confirmed that this control system is valid for highly energy-efficient biped walking.",
	pages = "779-790(12)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2003/00000017/00000008/art00004"
	doi = "doi:10.1163/156855303322395208"
}