FUZZY CONTROLLER DESIGN FOR A THREE JOINT ROBOT LEG IN PROTRACTION PHASE - An optimal behavior inspired fuzzy controller design Topics: Control and Supervision Systems; Mobile Robots and Autonomous Systems; Robot Design, Development and Control In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 302-306, 2004 , Setúbal, Portugal