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- W3134845812 abstract "Abstract A non-overconstrained pseudo-static walking machine has 1 leg joint under position control for every degree-of-freedom of the body. When 1 joint is position controlled on each of 6 legs, leg lift during a step results in 1 unregulated degree-of-freedom of the body. A second joint in one of the 5 legs that maintain contact with the ground must be switched to active position control at the same time that a foot is lifted. In theory any passively controlled joint in the 5 supporting legs may be chosen. However the requirement that no leg be in tension and practical limits on torques available from joint actuators severely restrict choice of both additional joint to actively position control and possible body positions where legs can be lifted." @default.
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- W3134845812 date "1996-08-18" @default.
- W3134845812 modified "2023-09-27" @default.
- W3134845812 title "Leg Lift During Non-Overconstrained Pseudo-Static Walking" @default.
- W3134845812 doi "https://doi.org/10.1115/96-detc/mech-1139" @default.
- W3134845812 hasPublicationYear "1996" @default.
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