?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aufirst=M.&rft.au=Azmi+Adly%2C+M.&rft.aulast=Azmi+Adly&rft.atitle=Control+algorithms+for+biped+robot+with+h+oeterogeneous+leg+(BRHL)&rft.pages=65-75&rft.volume=6&rft.issue=3&rft.title=Australian+Journal+of+Basic+and+Applied+Sciences&rft.issn=19918178&rft.date=2012&rft.genre=article