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Semeijns de Vries van Doesburgh, R.J. (author)There are many good reason for the development of a robust bipedal walking robot. However, until recently this development was hampered by the lack of a disturbance rejecting locomotion algorithms. With the introduction of Capture Point theory by Pratt et al. [2006] this problem has been largely solved. Capture Point theory describes the point...master thesis 2012