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Methodology for Zero-moment Point Experimental Modeling in the Frequency Domain
Frequency domain methodology is applied to obtain a nominal model for the Zero-Moment Point (ZMP) stability index of a biped robot in an attempt to establish a relationship between the robot trunk trajectories and the ...
Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation
In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the ...