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Control of biped robots based on designated smooth and stable trajectories is a challenging problem that is the focus of this article. A desired trajectory for the lower body will be designed to alleviate the impacts due to contact with the ground. Then, the upper body motion is planned based on the Zero Moment Point (ZMP) criterion to provide a stable(More)
Stability fulfilment for biped robots is drastically essential. Thus, to predict and maintain a dynamic stable status of biped robots defining an accurate stability measure is required which can represent dynamic equilibrium condition. Several postural stability metrics have been proposed so far. In this article, the Moment-Height stability (MHS) measure(More)
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