PDF-Biped Walking Pattern Generation by using Preview Control of ZeroMoment Point Shuuji KAJITA Fumio KANEHIRO Kenji KANEKO Kiyoshi FUJIWARA Kensuke HARADA Kazuhito YOKOI and Hirohisa HIRUKAWA National I
kajitafkanehirokkanekokfujiwara kensukeharadakazuhitoyokoihirohirukawa aistgojp Abstract We introduce a new method of a biped walking pat tern generation by using
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