Angular Center of Mass for Humanoid Robots. - Yu-Ming Chen 003; Gabriel Nelson; Robert J. Griffin; Michael Posa; Jerry E. Pratt (CoRR, 2022)

Integrable Whole-Body Orientation Coordinates for Legged Robots. - Yu-Ming Chen 003; Gabriel Nelson; Robert J. Griffin; Michael Posa; Jerry E. Pratt (IROS, 2023)