@article{Hurmuzlu.ea.2004,
  author	= {Hurmuzlu, Y. and G{\'e}not, F. and Brogliato, B.},
  title		= {Modelling, stability and control of biped robots -- {A} general framework},
  journal	= {Automatica},
  year		= {2004},
  key		= {In press},
}