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  • Ayonga Hereid, Eric A. Cousineau, Christian M. Hubicki, Aaron D. Ames
  • Computer Science, Engineering
  • IEEE International Conference on Robotics and…
  • 2016 (First Publication: 16 May 2016)
  • Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant implementation difficulties when applied to the high degrees ofExpand