Exploiting the Global Dynamics Structure of Whole-Body Humanoid Motion - Getting the "Knack" of Roll-and-Rise Motion.

Yasuo Kuniyoshi Yoshiyuki Ohmura Koji Terada Tomoyuki Yamamoto Akihiko Nagakubo Exploiting the Global Dynamics Structure of Whole-Body Humanoid Motion - Getting the "Knack" of Roll-and-Rise Motion. 385-394 2003 ISRR http://dx.doi.org/10.1007/11008941_41 conf/isrr/2003 db/conf/isrr/isrr2003.html#KuniyoshiOTYN03