Design and Gait Synthesis for a 3D Lower Body Humanoid
Bipedal locomotion is a challenging control engineering problem due to the non-linear dynamics and postural instability of the bipedal form. In addition to these challenges, some dynamical effects such as the ground reaction force are difficult to model accurately in simulation. To this end, it is e...
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| Language: | en |
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2013
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| Online Access: | http://hdl.handle.net/10012/7170 |