On the Walking Control for Humanoid Robot based on the Kinematic Resolution of CoM Jacobian with Embedded Motion.

Youngjin Choi Doik Kim Bum-Jae You On the Walking Control for Humanoid Robot based on the Kinematic Resolution of CoM Jacobian with Embedded Motion. 2655-2660 2006 conf/icra/2006 ICRA db/conf/icra/icra2006.html#ChoiKY06