@article{ref1,
title="Effect of model complexity and gait criteria on the synthesis of bipedal locomotion",
journal="IEEE transactions on bio-medical engineering",
year="1973",
author="Townsend, M. A. and Seireg, A. A.",
volume="20",
number="6",
pages="433-444",
abstract="<p>[Abstract unavailable]</p><p>Language: en</p>",
language="en",
issn="0018-9294",
doi="10.1109/TBME.1973.324217",
url="http://dx.doi.org/10.1109/TBME.1973.324217"
}