Key points are not available for this paper at this time.
The authors have been using the ZMP (Zero Moment Point) as a criterion to distinguish the stability of walking for a biped walking robot that has a trunk. In this paper, the authors propose a learning control algorithm of the compensative trunk motion that makes the actual ZMP get closer to the desired ZMP. The convergency of the algorithm is confirmed by computer simulation.
Li et al. (Fri,) studied this question.