# Footstep Modification Including Step Time and Angular Momentum Under Disturbances on Sparse Footholds

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 22× · AI/ML

**Wikidata**: [openalex:W3037562402](https://www.wikidata.org/wiki/openalex:W3037562402)  
**Source**: https://4ort.xyz/entity/footstep-modification-including-step-time-and-angular-momentum-under-disturbances-on-sparse-footholds