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Optimal mass distribution for a passive dynamic biped with upper body considering speed, efficiency and stability

Yan Huang, Qining Wang, Guangming Xie, Long Wang. Optimal mass distribution for a passive dynamic biped with upper body considering speed, efficiency and stability. In 8th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2008, Daejeon, South Korea, December 1-3, 2008. pages 515-520, IEEE, 2008. [doi]

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