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Hobbelen, D.G.E. (author), Wisse, M. (author)
Limit cycle walkers are bipeds that exhibit a stable cyclic gaitwithout requiring local controllability at all times during gait. A well-known example of limit cycle walking is McGeer’s “passive dynamic walking,” but the concept expands to actuated bipeds as involved in this study. One of the stabilizing effects in limit cycle walkers is the...
journal article 2008