@article{FPM_2005_11_8_a1,
     author = {Y. Aoustin and A. M. Formal'sky and C. Chevallereau},
     title = {Virtual quadruped: mechanical design, control, simulation, and experimentation},
     journal = {Fundamentalʹna\^a i prikladna\^a matematika},
     pages = {5--28},
     publisher = {mathdoc},
     volume = {11},
     number = {8},
     year = {2005},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/FPM_2005_11_8_a1/}
}