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On-line locomotion generation based on motion blending:

, In: Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation,
Park, Sang Il ; Shin, Hyun Joon ; Shin, Sung Yong - p. 105-111 , 2002
Link: https://dl.acm.org/doi/10.1145/545261.545279