@article{oai:repository.dl.itc.u-tokyo.ac.jp:00000088,
 author = {Kaneko, Makoto and Tachi, Susumu and Tanie, Kazuo and Abe, Minoru},
 issue = {1},
 journal = {IEEE journal of robotics and automation},
 month = {Feb},
 note = {application/pdf},
 pages = {19--30},
 title = {Basic Study on Similarity in Walking Machine from a Point of Energic Efficiency},
 volume = {3},
 year = {1987}
}