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Pragmatic Rules for Real-time Control of the Dynamic Walking of an Under-actuated Biped Robot

Christophe Sabourin, Olivier Bruneau, Jean-Guy Fontaine. Pragmatic Rules for Real-time Control of the Dynamic Walking of an Under-actuated Biped Robot. In Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA. pages 4216-4221, IEEE, 2004.

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