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This paper presents a method for integrating a cooperative manipulation task in the design of dynamic walking motions for an underactuated bipedal robot. Applications that involve physical interaction between a walking biped and a leading human (or robot) collaborator, require that the biped exhibits compliance at the port of interaction with the(More)
This paper investigates the ability of dynamically walking bipeds to adapt their motion to persistent exogenous forcing. Applications that involve physical interactions between a bipedal robot and other robots (or humans), require that the robot adjust its stepping pattern in response to externally applied force signals. In our setting, an underactuated(More)
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