Byung Rok So, Je Youn Choi, Byung-Ju Yi, Whee Kuk Kim. A new ZMP constraint equation with application to motion planning of humanoid using kinematic redundancy. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, August 2-6, 2005. pages 4021-4027, IEEE, 2005. [doi]
Abstract is missing.