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Approximate solution of steady step period in one-period limit cycle walking based on discretization of control input

Xuan Xiao, Fumihiko Asano. Approximate solution of steady step period in one-period limit cycle walking based on discretization of control input. In 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014, Kuala Lumpur, Malaysia, November 12-15, 2014. pages 585-590, IEEE, 2014. [doi]

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