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Stable dynamic walking of the quadruped "Kotetsu" using phase modulations based on leg loading/unloading against lateral perturbations.
Christophe Maufroy
Hiroshi Kimura
Tomohiro Nishikawa
Published in:
ICRA (2012)
Keyphrases
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humanoid robot
walking robot
walking speed
quadruped robot
dynamic environments
biped robot
dynamically changing
real time
information retrieval
data structure
data sets
learning phase
feedback loop
disturbance rejection