Sung Hee Lee, Ambarish Goswami. Reaction Mass Pendulum (RMP): An explicit model for centroidal angular momentum of humanoid robots. In 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy. pages 4667-4672, IEEE, 2007. [doi]
Abstract is missing.