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Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models.
Twan Koolen
Tomas de Boer
John R. Rebula
Ambarish Goswami
Jerry E. Pratt
Published in:
Int. J. Robotics Res. (2012)
Keyphrases
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legged locomotion
legged robots
humanoid robot
rough terrain
robotic systems