Clone preview control motion planning in humanoid that is similar as reference papers.
It is based on the papers: [1] Kajita, Shuuji, et al. "Biped walking pattern generation by using preview control of zero-moment point." Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA), IEEE 2003.
[2] Park, Jonghoon, and Youngil Youm. "General ZMP preview control for bipedal walking." Proc. IEEE Int'l Conf. on Robotics and Automation (ICRA), IEEE 2007