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2. Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode;Kajita,1991
3. Real-time 3d walking pattern generation for a biped robot with telescopic legs;Kajita,2001
4. Biped walking pattern generation by using preview control of zero-moment point;Kajita,2003
5. Introduction to humanoid robotics (Springer Tracts in Advanced Robotics);Kajita,2014