@ARTICLE{9007745,
  author={C. {Liu} and W. {Geng} and M. {Liu} and Q. {Chen}},
  journal={IEEE Access}, 
  title={Workspace Trajectory Generation Method for Humanoid Adaptive Walking With Dynamic Motion Primitives}, 
  year={2020},
  volume={8},
  number={},
  pages={54652-54662},
  doi={10.1109/ACCESS.2020.2976098}}