@book{Mombaur13,
  author = {Katja Mombaur and Karsten Berns},
  title = {Cosmos 18 -- Modeling, Simulation and Optimization of Bipedal Walking},
  publisher = {Springer},
  year = {2013},
  note = {\url{http://www.springer.com/engineering/electronics/book/978-3-642-36367-2}},
}