@inproceedings{Kryczka2013urai,
  title = {Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration},
  author = {Kryczka, Przemyslaw and Kormushev, Petar and Hashimoto, Kenji and Lim, Hun-ok and Tsagarakis, Nikos G. and Caldwell, Darwin G. and Takanishi, Atsuo},
  booktitle = {URAI 2013},
  pages = {475-480},
  publisher = {IEEE},
  year = {2013},
  url = {https://kormushev.com/papers/Kryczka_URAI-2013.pdf}
}