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Increasing the system\u2019s autonomous robustness to a variety of postural threats during locomotion is the key despite the need to evaluate noisy sensor signals. The equations of motion are the foundation of all published approaches. In contrast, we propose a more adequate evaluation of the equations of motion with respect to an arbitrary moving reference point in a non-inertial reference frame. Conceptual advantages are, e.g., getting independent of global position and velocity vectors estimated by sensor fusions or calculating the imaginary zero-moment point walking on different inclined ground surfaces. Further, we improve the calculation results by reducing noise-amplifying methods in our algorithm and using specific characteristics of physical robots. We use simulation results to compare our algorithm with established approaches and test it with experimental robot data.<\/jats:p>","DOI":"10.1007\/s10514-023-10092-x","type":"journal-article","created":{"date-parts":[[2023,3,2]],"date-time":"2023-03-02T06:51:52Z","timestamp":1677739912000},"page":"465-481","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Robust inverse dynamics by evaluating Newton\u2013Euler equations with respect to a moving reference and measuring angular acceleration"],"prefix":"10.1007","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9004-3965","authenticated-orcid":false,"given":"Maximilian","family":"Gie\u00dfler","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bernd","family":"Waltersberger","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2023,2,28]]},"reference":[{"issue":"3","key":"10092_CR1","doi-asserted-by":"publisher","first-page":"231","DOI":"10.1023\/A:1008292328909","volume":"14","author":"M Anitescu","year":"1997","unstructured":"Anitescu, M., & Potra, F. 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