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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)
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)
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