@article{toyama_uchida_2002, 
  title={Dynamic Model of Human Walking Mechanism. Dynamic Model based on ZMP principle and minimum consumption energy principle.}, 
  volume={68}, 
  DOI={10.2493/jjspe.68.58}, 
  publisher={Japan Society for Precision Engineering}, 
  author={TOYAMA and UCHIDA}, 
  year={2002}
  }