Unified bipedal gait for autonomous transition between walking and running in pursuit of energy minimization

Yoichi Morales, Atsushi Watanabe, Florent Ferreri, Jani Even, Kazuhiko Shinozawa, Norihiro Hagita. Unified bipedal gait for autonomous transition between walking and running in pursuit of energy minimization. Robotics and Autonomous Systems, 103:13-26, 2018. [doi]

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