Dynamic Biped Walking Stabilized With Optimal Trunk And Waist Motion. - Atsuo Takanishi; M. Tochizawa; Hideyuki Karaki; Ichiro Kato (IROS, 1989)

A control method for dynamic biped walking under unknown external force. - Atsuo Takanishi; Tomoaki Takeya; Hideyuki Karaki; Ichiro Kato (IROS, 1990)