Dynamic Control for Stabilization of the Four-Legged Walking Machine BISAM in Trot Motion.

Osamu Matsumoto Winfried Ilg Karsten Berns Rüdiger Dillmann Dynamic Control for Stabilization of the Four-Legged Walking Machine BISAM in Trot Motion. 33-42 1999 conf/ams/1999 AMS db/conf/ams/ams1999.html#MatsumotoIBD99