Sung Hee Lee, Ambarish Goswami. Ground reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground. In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei, Taiwan. pages 3157-3162, IEEE, 2010. [doi]
Abstract is missing.