Biped Robot Position Control with Stability-Based Ground Reaction Force and Velocity Constraints
The paper describing this work can be downloaded at https://www.jstage.jst.go.jp/article/... (region restrictions may apply).
Reference: "Biped Robot Position Control with Stability-Based Ground Reaction Force and Velocity Constraints" by K. Van Heerden and A. Kawamura, IEEJ Journal of Industry Applications, Vol.2 No.1 pp.30--39.