Modeling and control for efficient bipedal walking robots: A port-based approach

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Duindam, V., & Stramigioli, S. (2009). Modeling and control for efficient bipedal walking robots: A port-based approach. In Springer Tracts in Advanced Robotics (Vol. 53, pp. 1–211). https://doi.org/10.1007/978-3-540-89918-1_1

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