Dynamic Balance of Humanoid Systems in Regular and Irregular Gaits: an Expanded Interpretation

Miomir Vukobratovic, Branislav Borovac, Veljko Potkonjak, Milos Jovanovic. Dynamic Balance of Humanoid Systems in Regular and Irregular Gaits: an Expanded Interpretation. I. J. Humanoid Robotics, 6(1):117-145, 2009. [doi]

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