@INPROCEEDINGS{Yin09ICCSE,
	author={ {Yin Zhao} and {Lin Xiao} and {Li Wei} and {Yu Wuyi} and {Cai Jianhuai} and {Li Maoqing} and {Xin Li}},
	booktitle={International Conference on Computer Science Education},
	title={Gait planning in 3D robot simulation using ZMP theory},
	year={2009},
	pages={203-207},
}