The condition for dynamic stability.

By A. Hof, M. G. Gazendam, W. Sinke. Journal of Biomechanics, 2005

1,628 citations recorded by the source corpus.

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Assessing the stability of human locomotion: a review of current measures (2013, methodology): “We refrain from discussing similar concepts that do not include velocities of the CoM as these may be too simplistic for quantifying stability in a dynamic situation [157].”
Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, methodology): “[13]–[15] and named the Extrapolated Center of Mass.”
Bipedal walking control based on Capture Point dynamics (2011, background): “Pratt et al. [8] and Hof [12] independently introduced the Capture Point.”
Models, feedback control, and open problems of 3D bipedal robotic walking (2014, methodology): “widely used in analysis of push recovery and balance ([201, 72, 78, 196]).”
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models (2011, background): “[16] were the first to formally define the distance between the instantaneous capture point (which these authors call the ‘extrapolated CoM’) and the base of support as a ‘margin of stability’.”