An O(N) Algorithm for the Computation of the Centroidal Dynamics with Application in the Postural Balance of a Humanoid Robot Using Whole Body Control. - Jose C. Rojas-Rodriguez; Ana Yaveni Aguilar-Bustos; Eusebio Bugarin (Int. J. Humanoid Robotics, 2021)

Whole body motion generation with centroidal dynamics of legged robots using sequential bounds tightening of McCormick envelopes. - Jose C. Rojas-Rodriguez; Ana Yaveni Aguilar-Bustos; Eusebio Bugarin (Robotics Auton. Syst., 2023)