Real time motion generation and control for biped robot -1st report: Walking gait pattern generation-

By T. Takenaka, Takashi Matsumoto, T. Yoshiike. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

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Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, methodology): “Control algorithms for Honda’s ASIMO are based on the divergent component of motion (Takenaka et al. 2009), which is the dynamics of the instantaneous capture point.”
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models (2011, methodology): “Note that this change of coordinates was also used by Takenaka et al. (2009).”
Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion (2015, background): “The state variable related to the unstable part of the dynamics has been referred to as “(instantaneous) Capture Point” by Pratt and Koolen et al. [14]–[16], “Extrapolated Center of Mass” by Hof et al. [13], and “Divergent Component of Motion” (DCM) by Takenaka et al. [17].”