PDF-2CHAPTER48.MODELINGANDCONTROLOFLEGGEDROBOTS48.1ABriefHistoryofLeggedRo
4CHAPTER48MODELINGANDCONTROLOFLEGGEDROBOTSSincethevectoruofjointtorqueshasthesamesizeasthevectorqofjointpositionsthewholedynamicsincludingtheglobalpositionx0andorientation0appearstobeunderactuated
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