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Robot control / Dynamical systems / Underactuation / Generalized coordinates / Robot locomotion / Zero moment point / Lagrangian mechanics / Walking / Bipedalism


1 HZD-Based Control of a Five-Link Underactuated 3D Bipedal Robot J.W. Grizzle, Christine Chevallereau, and Ching-Long Shih Abstract— This paper presents a within-stride feedback controller that achieves an exponenti
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Document Date: 2016-04-25 13:15:12


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