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The formulation is equally applicable to movements on the ground or in the air. Nonlinear control strategies for postural balance and rhythmic motion are presented. A predictive algorithm to compensate for computation or transmission delay is proposed. Digital computer simulations are presented to demonstrate the effectiveness of the control strategy for a five\u2010link three\u2010dimensional biped.<\/jats:p>","DOI":"10.1002\/rob.4620010107","type":"journal-article","created":{"date-parts":[[2010,7,6]],"date-time":"2010-07-06T09:32:22Z","timestamp":1278408742000},"page":"101-116","source":"Crossref","is-referenced-by-count":38,"title":["Dynamics and Control of Motion on the Ground and in the Air with Application to Biped Robots"],"prefix":"10.1002","volume":"1","author":[{"given":"Hooshang","family":"Hemami","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuan\u2010Fang","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,9,6]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-322-90942-8"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1982.1102922"},{"key":"e_1_2_1_4_2","unstructured":"Yuan\u2010FangZheng \u201cModelling Control and Simulation of Three\u2010Dimensional Robotic Systems with Applications to Biped Locomotion \u201d Ph.D. Dissertation. 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