Johannes H. Strom George Slavov Eric Chown Omnidirectional Walking Using ZMP and Preview Control for the NAO Humanoid Robot. 378-389 2009 RoboCup http://dx.doi.org/10.1007/978-3-642-11876-0_33 conf/robocup/2009 db/conf/robocup/robocup2009.html#StromSC09