@book{Mombaur13,
Author = {Katja Mombaur and Karsten Berns},
Title = {Cosmos 18 -- Modeling, Simulation and Optimization of Bipedal Walking},
Publisher = {Springer},
Year = {2013},
Note = {\url{http://www.springer.com/engineering/electronics/book/978-3-642-36367-2}},
}