# A closed-form solution for real-time ZMP gait generation and feedback stabilization

> Research article (2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015) · cited 82× · AI/ML

**Wikidata**: [openalex:W2199168279](https://www.wikidata.org/wiki/openalex:W2199168279)  
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