@InProceedings{cisneros:humanoids:2014,
  author    = {Cisneros, Rafael and Yoshida, Eiichi and Yokoi, Kazuhito},
  title     = {Partial yaw moment compensation through whole-body motion},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots},
  year      = {2014},
  pages     = {329--335},
  address   = {Madrid, Spain},
  month     = {November 18-November 20},
  url       = {https://staff.aist.go.jp/e.yoshida/papers/Humanoids2014\_Cisneros.pdf},
  keywords  = {Joints, Robot kinematics, Humanoid robots, Vectors, Acceleration, Robot sensing systems},
  doi       = {10.1109/HUMANOIDS.2014.7041380},
  abstract  = {This paper describes a generalized approach for compensating just the required yaw moment of a humanoid robot about the Zero Moment Point (ZMP) while performing an arbitrary motion, in order to prevent unwanted / unexpected yaw rotations. This is done by modifying the motion of any set of joints with low priority tasks that can be arbitrarily selected before-hand. Finally, some simulation results are provided, which intend to show the validity of this approach.}
}