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application/pdfIEEEIEEE Robotics and Automation Letters;2018;3;4;10.1109/LRA.2018.2853557Computational geometrydivergent component of motionhumanoid and bipedal locomotionlegged robotsmotion and path planningConvex Properties of Center-of-Mass Trajectories for Locomotion Based on Divergent Component of MotionGeorge MesesanJohannes EnglsbergerChristian OttAlin Albu-Schaffer
IEEE Robotics and Automation Letters3449 Oct. 201843 10.1109/LRA.2018.28535573456
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