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Kinematic optimization and online adaptation of swing foot trajectory for biped locomotion

Hiroshi Kaminaga, Johannes Englsberger, Christian Ott. Kinematic optimization and online adaptation of swing foot trajectory for biped locomotion. In 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29 - Dec. 1, 2012. pages 593-599, IEEE, 2012. [doi]

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