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Bipedal Robots and Walking |
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1 | (1) |
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2 | (9) |
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Biomechanical system: a source of inspiration |
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2 | (7) |
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Skeletal structure and musculature |
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9 | (2) |
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11 | (10) |
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11 | (2) |
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Walking and running trajectory data |
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13 | (5) |
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18 | (3) |
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Bipedal walking robots: state of the art |
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21 | (11) |
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21 | (3) |
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Japanese studies and creations |
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24 | (3) |
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27 | (4) |
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General evolution tendencies |
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31 | (1) |
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32 | (8) |
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33 | (2) |
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Robotics and dangerous terrains |
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35 | (1) |
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Toy robots and computer animation in cinema |
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35 | (2) |
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37 | (2) |
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39 | (1) |
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40 | (1) |
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40 | (1) |
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41 | (6) |
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Kinematic and Dynamic Models for Walking |
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47 | (1) |
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The kinematics of walking |
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48 | (22) |
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DoF of the locomotion system |
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48 | (1) |
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49 | (4) |
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Generalized coordinates for a sagittal step |
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53 | (4) |
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Generalized coordinates for three-dimensional walking |
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57 | (9) |
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66 | (4) |
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70 | (33) |
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71 | (16) |
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Newton-Euler's dynamic model |
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87 | (11) |
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98 | (5) |
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103 | (14) |
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CoP and equilibrium constraints |
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103 | (13) |
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116 | (1) |
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Complementary feasibility constraints |
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117 | (6) |
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Respecting the technological limitations |
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118 | (1) |
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Non-collision constraints |
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119 | (4) |
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123 | (1) |
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123 | (4) |
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Design Tools for Making Bipedal Robots |
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127 | (1) |
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Study of influence of robot body masses |
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128 | (37) |
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129 | (18) |
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147 | (18) |
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Mechanical design: the architectures carried out |
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165 | (16) |
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The structure of planar robots |
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165 | (3) |
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168 | (4) |
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Technology of inter-body joints |
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172 | (2) |
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174 | (7) |
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181 | (26) |
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181 | (5) |
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Characteristics of electric actuators |
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186 | (4) |
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Elements of choice for robotic actuators |
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190 | (3) |
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Comparing actuator performances |
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193 | (9) |
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Performances of transmission-actuator associations |
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202 | (5) |
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207 | (5) |
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207 | (1) |
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208 | (1) |
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Characteristics and integration |
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209 | (1) |
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Sensors of inertial localization |
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210 | (2) |
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212 | (1) |
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213 | (2) |
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213 | (1) |
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213 | (2) |
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215 | (4) |
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Walking Pattern Generators |
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219 | (1) |
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Passive and quasi-passive dynamic walking |
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220 | (7) |
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220 | (2) |
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Quasi-passive dynamic walking |
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222 | (5) |
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227 | (1) |
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Dynamic synthesis of walking |
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228 | (8) |
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Performance criteria for walking synthesis |
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228 | (4) |
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Formalizing the problem of dynamic optimization |
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232 | (4) |
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Walking synthesis via parametric optimization |
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236 | (25) |
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Approximating the control variables |
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237 | (1) |
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Parameterizing the configuration variables |
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238 | (8) |
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Parameterizing the Lagrange multipliers |
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246 | (4) |
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Formulation of the parametric optimization problem |
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250 | (5) |
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A parametric optimization example |
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255 | (6) |
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261 | (1) |
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262 | (5) |
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267 | (2) |
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Hybrid systems and stability study |
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269 | (4) |
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Taking into account the unilateralism of the contact constraint |
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273 | (9) |
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273 | (9) |
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Online modification of references |
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282 | (14) |
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282 | (3) |
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The ZMP's imposed evolution |
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285 | (7) |
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Bounded evolution of the ZMP |
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292 | (4) |
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Taking an under-actuated phase into account |
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296 | (5) |
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Taking the double support phase into account |
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301 | (5) |
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Intuitive and neural network methods |
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306 | (12) |
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306 | (5) |
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311 | (7) |
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318 | (4) |
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322 | (1) |
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323 | (4) |
| Index |
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327 | |
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