@incollection{MonGutBer10cwr,
	author = {F. Monasterio-Huelin and A. Guti\'{e}rrez and F.~J.~Berenguer},
	editor = {B. Miripour},
	title = {Zappa, a Compliant Quasi-Passive Biped Robot with a Tail and Elastic Knees},
	publisher = {InTech Education and Publishing},
	year = {2010},
	month = {March},
	booktitle = {Climbing and Walking Robots},
	chapter = {15},
	pages = {253--264},
	address = {Vokovar, Croatia},
}