On the stability of walking systems

Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point

Ambarish Goswami · The International Journal of Robotics Research · 1999 · 568 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

Modeling, stability and control of biped robots—a general framework

Yildirim Hürmüzlü, Frank Génot, Bernard Brogliato · Automatica · 2004 · 235 citations · Full text

Engineering, Mechanical Engineering, Robotics Engineering +14

Robust biped walking with active interaction control between foot and ground

Yasutaka Fujimoto, Shogo Obata, Atsuo Kawamura · 2002 · 122 citations

Engineering, Mechanical Engineering, Robotics Engineering +17

A classification of stability margins for walking robots

Elena García Armada, J. Estremera, P. González de Santos · 2002 · 26 citations

Engineering, Mechanical Engineering, Robotics Engineering +12

Constrained dynamics and parametrized control in biped walking

Pierre-Brice Wieber · HAL (Le Centre pour la Communication Scientifique Directe) · 2000 · 24 citations · Full text

Engineering, Mechanical Engineering, Robotics Engineering +17