Development of a Bipedal Humanoid Robot: Control Method of Whole Body Cooperative Dynamic Biped Walking

Jin ichi Yamaguchi, Eiji Soga, Sadatoshi Inoue, Atsuo Takanishi. Development of a Bipedal Humanoid Robot: Control Method of Whole Body Cooperative Dynamic Biped Walking. In ICRA. pages 368-374, 1999.

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