# Capture Point-Based Controller Using Real-Time Zero Moment Point Manipulation for Stable Bipedal Walking in Human Environment

> Research article (Sensors, 2019) · cited 16× · AI/ML

**Wikidata**: [openalex:W2966170830](https://www.wikidata.org/wiki/openalex:W2966170830)  
**Source**: https://4ort.xyz/entity/capture-point-based-controller-using-real-time-zero-moment-point-manipulation-for-stable-bipedal-walking-in-human-enviro