@Article{demagistris:ras:2017b,
  author    = {De Magistris, Giovanni and Pajon, Adrien and Miossec, Sylvain and Kheddar, Abderrahmane},
  title     = {Optimized humanoid walking with soft soles},
  journal   = {Robotics and Autonomous Systems},
  year      = {2017},
  volume    = {95},
  pages     = {52--63},
  month     = {September},
  doi       = {https://doi.org/10.1016/j.robot.2017.05.006},
  url       = {https://www.sciencedirect.com/science/article/pii/S0921889016301245?via\%3Dihub},
  keywords  = {Compliant soles, Deformation estimator, Walking pattern generator, Humanoid robots, Optimized walking gait},
  publisher = {Elsevier Science BV},
  address   = {Po Box 211, 1000 AE Amsterdam, Netherlands}
}