A centroidal optimal control problem that penalizes angular momentum rate produces pendular force patterns whose rate is set by foot geometry and matches experiments within 16 percent.
Real-time stabilization of a falling humanoid robot using hand contact: An optimal control approach
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On the Emergence of Pendular Structure in Multi-Contact Locomotion
A centroidal optimal control problem that penalizes angular momentum rate produces pendular force patterns whose rate is set by foot geometry and matches experiments within 16 percent.