Eric C. Whitman, Benjamin J. Stephens, Christopher G. Atkeson. Torso rotation for push recovery using a simple change of variables. In 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29 - Dec. 1, 2012. pages 50-56, IEEE, 2012. [doi]
Abstract is missing.