A running pattern generation based on ZMP for humanoid robot

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机构：
[1] Wang, Xianfeng
[2] Li, Jianping
[3] Wang, Hui
来源：
Wang, X. (199773@sina.com) | 2013年 / Science Press卷 / 50期
关键词：
Constant velocities - Dynamic equilibria - Force and torques - Humanoid robot - Pattern Generation - Running robots - Vertical direction - Zero moment point;
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