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This paper describes a 3-D biped walking over rough terrain. The robot is modeled as the special 3-D inverted pendulum that can change the length. The dynamics of the 3-D inverted pendulum is modeled as 2-D autonomous system by applying the Passive Dynamic Autonomous Control (PDAC) that is based on the assumption of point-contact of the robot foot and the virtual holonomic constraint as to robot joints...
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