@article{oai:tsukuba.repo.nii.ac.jp:00018485,
 author = {Aoyama, T and 長谷川, 泰久 and HASEGAWA, Yasuhisa and Sekiyama, K. and Fukuda, T.},
 issue = {6},
 journal = {IEEE/ASME transactions on mechatronics},
 month = {Dec},
 pages = {712--718},
 title = {Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC},
 volume = {14},
 year = {2009},
 yomi = {ハセガワ, ヤスヒサ}
}