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Trajectory planning methods and control algorithms for a three-link biped robot are proposed. Based on the observation of the motions of human beings, trajectory planning methods are proposed without neglecting the nonlinear terms of the biped dynamics. A combination of several well-developed control methods is used to control the biped. Comparisons are made of the path tracking performance and torque consumption of these control algorithms.>
T.-T. Lee (Mon,) studied this question.
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