# 3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization

> Research article (IEEE Transactions on Robotics, 2022) · cited 90× · AI/ML

**Wikidata**: [openalex:W3124944733](https://www.wikidata.org/wiki/openalex:W3124944733)  
**Source**: https://4ort.xyz/entity/3-d-underactuated-bipedal-walking-via-h-lip-based-gait-synthesis-and-stepping-stabilization