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1 Ugurlu, B., "ZMP-based online jumping pattern generation for a one-legged robot" 57 (57): 1701-1709, 2009
2 Kajita, S., "ZMP-based biped running control" 14 (14): 63-72, 2007
3 Kajita, S., "Resolved momentum control: Humanoid motion planning based on the linear and angular momentum" IEEE 2 : 1644-1650, 2003
4 Ahn, D., "Optimal periodic hopping trajectory generation for legged robots" 1263-1268, 2018
5 Erbatur, K., "Natural ZMP trajectories for biped robot reference generation" 56 (56): 835-845, 2008
6 Tajima, R., "Motion having a fl ight phase:Experiments involving a one-legged robot" 1726-1731, 2006
7 Kalouche, S., "Goat: A legged robot with 3d agility and virtual compliance" IEEE 4110-4117, 2017
8 Tajima, R., "Fast running experiments involving a humanoid robot" IEEE 1571-1576, 2009
9 Yun-Ho Han, "Development of a Humanoid Robot for the 2018 Ski Robot Challenge" 한국정밀공학회 21 (21): 1309-1320, 2020
10 Ugurlu, B., "Bipedal hopping pattern generation for passively compliant humanoids : Exploiting the resonance" 61 (61): 5431-5443, 2014
11 Heo, J., "Biped walking pattern generation using an analytic method for a unit step with a stationary time interval between steps" 62 (62): 1091-1100, 2015
12 Kajita, S., "Biped walking pattern generation by using preview control of zero-moment point" 3 : 1620-1626, 2003
13 Shimmyo, S., "Biped walking pattern generation by using preview control based on three-mass model" 60 (60): 5137-5147, 2012
14 Sun, N., "An energy-optimal solution for transportation control of cranes with double pendulum dynamics : Design and experiments" 102 : 87-101, 2018
15 Nagasaki, T., "A running experiment of humanoid biped" IEEE 1 : 136-141, 2004
16 Cho, B., "A posture balance controller for a humanoid robot using state and disturbance-observerbased state feedback" 95 (95): 331-349, 2019