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Generating stable dynamic motions for a biped robot in real time is difficult due to the unstable nature of biped systems and their high degrees of freedom. We propose an approximate dynamics model for biped robots with three masses and no kinematic constraints. We also propose a relaxed boundary condition called ¿the divergent component of motion¿. These techniques allow us to generate walking gait patterns with large margin from the edges of support polygon in real time.
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Takenaka et al. (2009) studied this question.
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