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    2009
    IEEE
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    Virtual holonomic constraint approach for planar bipedal walking robots extended to double support
    14 years 2 months ago
    Virtual holonomic constraint approach for planar bipedal walking robots extended to double support
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    The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An...
    Michael Scheint, Marion Sobotka, Martin Buss
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