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Walking on the Slope: Stable Bipedal Gaits with Genetic-Algorithm-Optimized Trajectories
This paper presents the kinematic and dynamic modeling, trajectory generation, and stability analysis of an 8-degree-of-freedom (DOF) biped robot walking on flat and inclined terrain. Denavit-Hartenberg (DH) parameters and homogeneous transformations are used to derive the forward kinematics, while
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