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Impedance control of quadruped robot and its impedance characteristic modulation for trotting on irregular terrain

Jaehwan Park, Jong Hyeon Park. Impedance control of quadruped robot and its impedance characteristic modulation for trotting on irregular terrain. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 175-180, IEEE, 2012. [doi]

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