Marko B. Popovic, Ambarish Goswami, Hugh Herr. Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications. I. J. Robotic Res., 24(12):1013-1032, 2005. [doi]
@article{PopovicGH05,
title = {Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications},
author = {Marko B. Popovic and Ambarish Goswami and Hugh Herr},
year = {2005},
url = {http://ijr.sagepub.com/cgi/content/abstract/24/12/1013},
researchr = {https://researchr.org/publication/PopovicGH05},
cites = {0},
citedby = {0},
journal = {I. J. Robotic Res.},
volume = {24},
number = {12},
pages = {1013-1032},
}