Shuuji Kajita, Kazuo Tani. Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode. In Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 9-11 April 1991. pages 1405-1411, IEEE, 1991. [doi]
Abstract is missing.