Combined control of CPG and torso attitude control for biped locomotion

Masaki Takahashi, Terumasa Narukawa, Ken Miyakawa, Kazuo Yoshida. Combined control of CPG and torso attitude control for biped locomotion. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, August 2-6, 2005. pages 4051-4056, IEEE, 2005. [doi]