Concept and Strategies: Equivalent Predictive Control and Handle Point Control for Bipedal-Vehicle Transformable Robots Under Various Disturbances. - Chencheng Dong; Zhangguo Yu; Xuechao Chen; Junhang Lai; Jiayi Liu; Chao Li; Qiang Huang 002 (IEEE Trans Autom. Sci. Eng., 2025)