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    ICRA
    2009
    IEEE
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    Exploiting angular momentum to enhance bipedal center-of-mass control
    14 years 6 months ago
    Exploiting angular momentum to enhance bipedal center-of-mass control
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    Abstract— Recent humanoid control investigations have emphasized the importance of controlling whole-body angular momentum throughout a movement task. For typical movement tasks,...
    Andreas Hofmann, Marko B. Popovic, Hugh M. Herr
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