A walking stability controller with disturbance rejection based on CMP criterion and Ground Reaction Force feedback. - Richard Beranek; Henry Fung; Mojtaba Ahmadi (IROS, 2011)

Disturbance compensation in bipedal locomotion using Ground reaction force feedback and the CMP. - Richard Beranek; Henry Fung; Mojtaba Ahmadi (Int. J. Robotics Autom., 2015)