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ICRA
2005
IEEE
113views Robotics» more  ICRA 2005»
10 years 4 months ago
Symmetric Walking Control: Invariance and Global Stability
— This paper first presents a novel control strategy for periodic motion control based on a Hamiltonian system. According to the strategy, hybrid symmetric orbits (ideal walking...
Sang-Ho Hyon, Takashi Emura
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