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In this paper, we holistically present a Hybrid-Linear Inverted Pendulum (H-LIP) based approach for synthesizing and stabilizing 3D foot-underactuated bipedal walking, with an emphasis on thorough hardware realization.
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X. Xiong, Y. Chen, and A. D. Ames, “Robust disturbance rejection for robotic bipedal walking: System-level-synthesis with step-to-step dynamics approximation,” in To appear in Conference on Decision and Control (CDC) . IEEE, 2021
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