@incollection{Herr06,
author = {Marko B. Popovic and Hugh Herr},
title = {Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications},
booktitle = {Mobile Robots},
publisher = {IntechOpen},
address = {Rijeka},
year = {2006},
editor = {Aleksandar Lazinica},
chapter = {5},
doi = {10.5772/4686},
url = {https://doi.org/10.5772/4686}
}