@inproceedings{ Raibert:1991:Legged,
  author = "Marc H. Raibert and Jessica K. Hodgins",
  title = "Animation of Dynamic Legged Locomotion",
  year = "1991",
  month = jul,
  booktitle = "Computer Graphics (Proceedings of SIGGRAPH 91)",
  volume = "25",
  number = "4",
  pages = "349--358",
}