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Humanoid robots have great potential for real-world applications due to their ability to operate in environments built for humans, but their deployment is hindered by the challenge of controlling their underlying high-dimensional nonlinear hybrid dynamics.
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X. Xiong and A. Ames, “3-d underactuated bipedal walking via h-lip based gait synthesis and stepping stabilization,” IEEE Transactions on Robotics · 2022
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