LEGGED ROBOTS THAT CAN BALANCE

Hi,
I am looking for this book... LEGGED ROBOTS THAT CAN BALANCE
by Marc H. Raibert... of CMU.
But unfortunately and obviously ... this is out of print currently...
So, can anyone tell me the source of Raibert papers of the time 1986...
Or else any site where this book can be downloadable...
Subhasis