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A planar stable walking model based on ankle actuation and the virtual pendulum concept

Jongwoo Lee, Yonghwan Oh. A planar stable walking model based on ankle actuation and the virtual pendulum concept. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, October 9-14, 2016. pages 5169-5174, IEEE, 2016. [doi]

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