ミオミール・ブコブラトビッチ
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“Is Dynamic Control Needed in Robotic Systems, and, if So, to What Extent?”. The International Robotics Research 2 (2): 18-34. (1983).
MIOMIR VUKOBRATOVIC ́ and BRANISLAV BOROVAC (2004). “ZERO-MOMENT POINT — THIRTY FIVE YEARS OF ITS LIFE”. International Journal of Humanoid Robotics 1 (1): 157–173. http://www.cs.cmu.edu/~cga/legs/vukobratovic.pdf.