# Efficient HZD gait generation for three-dimensional underactuated humanoid running

> Research article (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016) · cited 12× · AI/ML

**Wikidata**: [openalex:W2561952824](https://www.wikidata.org/wiki/openalex:W2561952824)  
**Source**: https://4ort.xyz/entity/efficient-hzd-gait-generation-for-three-dimensional-underactuated-humanoid-running