Stumbling with optimal phase reset during gait can prevent a humanoid from falling.

Masao Nakanishi Taishin Nomura Shunsuke Sato Stumbling with optimal phase reset during gait can prevent a humanoid from falling. 503-515 2006 95 Biological Cybernetics 5 http://dx.doi.org/10.1007/s00422-006-0102-8 db/journals/bc/bc95.html#NakanishiNS06