Autonomous Biped Stepping Control Based on the LIPM Potential. - Kenta Imanishi; Tomomichi Sugihara (Humanoids, 2018)

3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation. - Tomomichi Sugihara; Kenta Imanishi; Takanobu Yamamoto; Stéphane Caron (ICRA, 2021)