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Simple data-driven control for simulated bipeds:

, In: Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation,
Geijtenbeek, T. ; Pronost, N. ; van der Stappen, A. F. - p. 211-219 , 2012
Link: https://dl.acm.org/doi/10.5555/2422356.2422387