Chi Zhu, Yoshihito Tomizawa, Xiang Luo, Atsuo Kawamura. Biped Walking with Variable ZMP, Frictional Constraint, and Inverted Pendulum Model. In 2004 IEEE International Conference on Robotics and Biomimetics, ROBIO 2004, Shenyang, China, August 22-26, 2004. pages 425-430, IEEE, 2004. [doi]
Abstract is missing.