@inproceedings{kormushev2012anatomy,
  title={The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans},
  author={Kormushev, Petar and Ugurlu, Barkan and Colasanto, Luca and Tsagarakis, Nikolaos G. and Caldwell, Darwin G.},
  booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
  pages={3706--3713},
  year={2012},
  organization={IEEE},
  url = {https://kormushev.com/papers/Kormushev_IROS-2012.pdf}
}