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26
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ICRA
2006
IEEE
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Robotics
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ICRA 2006
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A Universal Stability Criterion of the Foot Contact of Legged Robots - Adios ZMP
14 years 6 months ago
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staff.aist.go.jp
— This paper proposes a universal stability criterion of the foot contact of legged robots. The proposed method checks if the sum of the gravity and the inertia wrench applied to...
Hirohisa Hirukawa, Shizuko Hattori, Kensuke Harada...
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