Robert D. Gregg, Ludovic Righetti, Jonas Buchli, Stefan Schaal. Constrained accelerations for controlled geometric reduction: Sagittal-plane decoupling for bipedal locomotion. In 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010, Nashville, TN, USA, December 6-8, 2010. pages 1-7, IEEE, 2010. [doi]
Abstract is missing.