@InProceedings{NaoWalking-WHSR-2009,
  author = {Colin Graf and Alexander H{\"a}rtl and Thomas R{\"o}fer and Tim Laue},
  title = {A Robust Closed-Loop Gait for the Standard Platform League Humanoid},
  year = {2009},
  editor = {Changjiu Zhou and Enrico Pagello and Emanuele Menegatti and Sven Behnke and Thomas R{\"o}fer},
  booktitle = {Proceedings of the Fourth Workshop on Humanoid Soccer Robots in conjunction with the 2009 IEEE-RAS International Conference on Humanoid Robots},
  address = {Paris, France},
  pages = {30 - 37},
}