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2
Ground Reaction force control at each foot: A momentum-based humanoid balance controller for non-level and non-stationary ground

Lee, Sung-Hee; Goswami, Ambarish, International Conference on Intelligent Robots and Systems, IEEE/RSJ, 2010-10

3
Reaction Mass Pendulum (RMP) : An explicit model for centroidal angular momentum of humanoid robots

Lee, Sung-Hee; Goswami, Ambarish, International Conference on Robotics and Automation, IEEE, 2007-07

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