The Spherical Inverted Pendulum: Exact Solutions of Gait and Foot Placement Estimation Based on Symbolic Computation
The gait and the Foot Placement Estimation (FPE) has recently been extended to 3-D spaces by adopting a specific form of a spherical inverted pendulum (SIP). The approach is very attractive, as it does not involve dynamics, but it is based solely on energies and momenta, however the authors (DeHart...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/4/1588 |