4CLOEMAN M J. A stability study of a three-dimensional passive-dynamic model of human gait [ D ]. New York : Faculty of Graduate School of ComeU University,1998.
5COLLINS S H, RUINA A. A bipedal walking robot with efficient and human-like gait [C]//Proceedings of the IEEE Conference on Robotics and Automation. Piscataway, NJ, USA: IEEE, 2005 : 1983 - 1988.
6TEDRAKE R, ZHANG T W, SEUNG H S. Stochastic policy gradient reinforcement learning on a simple 3D biped[ C]//Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems[C]. New York, NY, USA : IEEE, 2004:2849 - 2854.
7SCHUITEMA E, HOBBELEN D G E, JONKER P P,,st al. Using a controller based on reinforcement learning for a passive dynamic walking robot[ C ]//Proceedings of the IEEE/RAS International Conference on Humanoid Robots. New York, NY, USA: IEEE,2005:232-237.
8COLLINS S, RUINA A. Efficient bipedal robots based on passive-dynamic walker[ J ]. Science Magazine, 2005, 307 : 1082 - 1085.
9MARGARIA R. Biomechanics and Energetics of Muscular Exercise[ M]. Oxford: Clarendon Press, 1976.
