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Stability and performance are two main issues in motion of bipeds. To ensure stability, motion of a biped need to follow specific pattern to comply with certain stability criterion such as zero moment point. However, there are infinity many patterns of motion, i.e. different paths, which may ensure stability, so one might think of achieving better performance by choosing proper parameters of motion...
Walking like human might be considered as the most important objective for humanoid robots. Toe-joint is perhaps one of the most important missing parts of the structure of humanoid, which can play essential role in natural walking. Regarding this fact, the effect of toe-joint in improving performance of motion is studied in this paper. To this end, a nine-link biped is studied and compared with a...
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