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Push-Recovery Stability of Biped Locomotion

Lee, Yoonsang et al.
S-Space: Seoul National University · Papers
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balancegait-analysisrobotsstability
Biped controller design pursues two fundamental goals; simulated walking should look human-like and robust against perturbation while maintaining its balance. Normal gait is a pattern of walking that humans normally adopt in undisturbed situations. It has previously been postulated that normal gait
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