| ZMP | Zero moment point |
| CoM | Center of mass |
| LIP | Linear inverted pendulum |
| VHIP | Variable-height inverted pendulum |
| TO | Trajectory optimization |
| NLP | Nonlinear programming |
| to | Take-off |
| td | touchdown |
| DoF | Degree of freedom |
Official websites use .gov
A
.gov website belongs to an official
government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you've safely
connected to the .gov website. Share sensitive
information only on official, secure websites.