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This paper presents a motion pattern generator of humanoid robots that walks on a flat plane, steps and a rough terrain. It is guaranteed rigorously that the desired contact between a humanoid robot and terrain should be maintained by keeping the contact wrench sum between them inside the contact wrench cone under the sufficient friction assumption. A walking pattern is generated by solving the contact wrench equations and by applying the resolved momentum control.
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Hirukawa et al. (2007) studied this question.
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