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General purpose modular actuators have greatly lowered the difficulty of building and maintaining high degree of freedom humanoid robots. In addition to widely adopted miniature modular humanoid robots, full-size humanoid robots can now be built using such modular actuators. To overcome torque and control bandwidth limitations of modular actuators, such robots tend to have a design principle of relatively...
Common design principles for low cost humanoid robots include a low center of mass height and a large support area for increased static stability. However, such principles limit the bipedal mobility of the robot due to the kinematic constraints involved. In this paper, we present an efficient locomotion controller that utilizes automatically calculated heel and toe lift motions to overcome the kinematic...
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