# Unified Balance Control for Biped Robots Including Modification of Footsteps with Angular Momentum and Falling Detection Based on Capturability

> Research article (2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019) · cited 29× · AI/ML

**Wikidata**: [openalex:W3004240161](https://www.wikidata.org/wiki/openalex:W3004240161)  
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