Pragmatic Rules for Real-time Control of the Dynamic Walking of an Under-actuated Biped Robot.

Christophe Sabourin Olivier Bruneau Jean-Guy Fontaine Pragmatic Rules for Real-time Control of the Dynamic Walking of an Under-actuated Biped Robot. 4216-4221 2004 conf/icra/2004 ICRA db/conf/icra/icra2004-4.html#SabourinBF04 http://dx.doi.org/10.1109/ROBOT.2004.1308937