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Conf Proc IEEE Eng Med Biol Soc. 2013;2013:5307-10. doi: 10.1109/EMBC.2013.6610747.

A biomimetic framework for coordinating and controlling whole body movements in humanoid robots.


An integrated model for the coordination of whole body movements of a humanoid robot with a compliant ankle similar to the human case is described. It includes a synergy formation part, which takes into account the motor redundancy of the body model, and an intermittent controller, which stabilizes in a robust way postural sway movements, thus combining the hip strategy with ankle strategy.

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