Aerial Posture Control for 3D Biped Running Using Compensator around Yaw Axis.

Sang Ho Hyon Takashi Emura Aerial Posture Control for 3D Biped Running Using Compensator around Yaw Axis. 57-62 2003 conf/icra/2003 ICRA db/conf/icra/icra2003.html#HyonE03