Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid.
Jerry E. PrattTwan KoolenTomas de BoerJohn R. RebulaSebastien CottonJohn CarffMatthew JohnsonPeter D. NeuhausPublished in: Int. J. Robotics Res. (2012)