Optimal gait planning for humanoids with 3D structure walking on slippery surfaces

Majid Khadiv, S. Ali A. Moosavian, Aghil Yousefi-Koma, Majid Sadedel, Saeed Mansouri. Optimal gait planning for humanoids with 3D structure walking on slippery surfaces. Robotica, 35(3):569-587, 2017. [doi]

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