Geodesic
Nonlinear running and walking of the biped robot
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 2 (1983), pp. 70-74

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We solve some problems of optimal running and walking of the biped robot in the sense of the energetic functional. 
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     author = {{\CYRO}. B. Buzur-owl},
     title = {Nonlinear running and walking of the biped robot},
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О. B. Buzur-owl. Nonlinear running and walking of the biped robot. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 2 (1983), pp. 70-74. http://geodesic.mathdoc.fr/item/VMUMM_1983_2_a15/