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foot placement
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robotic Walking on a Swaying Rigid Surface
Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., …
Yuan Gao
,
Yukai Gong
,
Victor Paredes
,
Ayonga Hereid
,
Yan Gu
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