Text this: Push Recovery Through Walking Phase Modification for Bipedal Locomotion

 __   __     ___    __    __    _____     _____   
 \ \\/ //   / _ \\  \ \\ / //  |  ___||  /  ___|| 
  \   //   | / \ ||  \ \/ //   | ||__   | // __   
  / . \\   | \_/ ||   \  //    | ||__   | \\_\ || 
 /_//\_\\   \___//     \//     |_____||  \____//  
 `-`  --`   `---`       `      `-----`    `---`