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Variable impedance walking using Time-Varying Lyapunov Stability Margins

Emmanouil Spyrakos-Papastavridis, Peter R. N. Childs, Nikos G. Tsagarakis. Variable impedance walking using Time-Varying Lyapunov Stability Margins. In 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017, Birmingham, United Kingdom, November 15-17, 2017. pages 318-323, IEEE, 2017. [doi]

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