Biped walking pattern generation by a simple three-dimensional inverted pendulum model - researchr publication authors

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Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi, Hirohisa Hirukawa. Biped walking pattern generation by a simple three-dimensional inverted pendulum model. Advanced Robotics, 17(2):131-147, 2003. [doi]

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