Shouwen Fan Min Sun Mingquan Shi Real-time Gait Generation for Humanoid Robot Based on Fuzzy Neural Networks. 343-348 2007 ICNC (2) https://doi.org/10.1109/ICNC.2007.597 https://doi.ieeecomputersociety.org/10.1109/ICNC.2007.597 conf/icnc/2007-2 db/conf/icnc/icnc2007-2.html#FanSS07