Modeling and control of periodic humanoid balance using the Linear Biped Model

Benjamin J. Stephens, Christopher G. Atkeson. Modeling and control of periodic humanoid balance using the Linear Biped Model. In 9th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2009, Paris, France, December 7-10, 2009. pages 379-384, IEEE, 2009. [doi]

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