Contact force based compliance control for a trotting quadruped robot
The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation
Inverse Kinematics for a Point-Foot Quadruped Robot with Dynamic Redundancy Resolution
Inverse dynamics control of floating base systems using orthogonal decomposition
Capture Point: A Step toward Humanoid Push Recovery
Central pattern generators for locomotion control in animals and robots: A review