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20172026
most citedBeyond Inverted Pendulums: Task-optimal Simple Models of Legged Locomotion

1 citations · 2 across the 7 of their papers we have counts for

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cs.RO2022

Integrable Whole-body Orientation Coordinates for Legged Robots

Yu-Ming Chen, Gabriel Nelson, Robert Griffin +2

Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation}…