Walking pattern generation for a humanoid robot with compliant joints

@article{Li2013WalkingPG,
  title={Walking pattern generation for a humanoid robot with compliant joints},
  author={Zhibin Li and Nikolaos G. Tsagarakis and Darwin Gordon Caldwell},
  journal={Autonomous Robots},
  year={2013},
  volume={35},
  pages={1-14}
}
This work presents a walking pattern generator based on the control of the center of mass (COM) states and its experimental validations on the compliant humanoid robot COMAN powered by intrinsically compliant joints. To cope with the inaccuracies of the joint position tracking resulted by the physical compliance, the proposed pattern generator uses the feedback states of the COM and on-line computes the updated COM references. The position and velocity of the COM are the state variables, and… 
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