# ZMP Theory-based Gait Planning and Model-Free Trajectory Tracking Control of Lower Limb Carrying Exoskeleton System

> Research article (Studies in Informatics and Control, 2017) · cited 14× · AI/ML

**Wikidata**: [openalex:W2735021070](https://www.wikidata.org/wiki/openalex:W2735021070)  
**Source**: https://4ort.xyz/entity/zmp-theory-based-gait-planning-and-model-free-trajectory-tracking-control-of-lower-limb-carrying-exoskeleton-system