Recoverability Estimation and Control for an Inverted Pendulum Walker Model Under Foot Slip. - Marko Mihalec; Ye Zhao; Jingang Yi (AIM, 2020)

Recoverability-Based Optimal Control for a Bipedal Walking Model With Foot Slip. - Marko Mihalec; Mitja Trkov; Jingang Yi (ACC, 2021)