Branislav Borovac Milutin Nikolic Mirko Rakovic How to compensate for the disturbances that Jeopardize Dynamic Balance of a Humanoid Robot? 533-578 2011 8 I. J. Humanoid Robotics 3 http://dx.doi.org/10.1142/S0219843611002551 db/journals/ijhr/ijhr8.html#BorovacNR11