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most citedReal-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model

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cs.RO2023★ 1 cited

Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model

Amir Iqbal, Sushant Veer, Yan Gu

This study introduces an analytically tractable and computationally efficient model of the legged robot dynamics associated with locomotion on a dynamic rigid surface (DRS), and de…