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[PENDING] Human like trajectory generation for a biped robot with a four-bar linkage for the knees

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Academic year: 2024

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Figure 1: Schematic of the planar bipedal robot. Absolute angular variables and torques.
Table 1: Physical parameters of the bipedal robot.
Figure 2: Details of the four-bar joint and position of the Instantaneous Center of Rotation (ICR)
Figure 3: Details of the foot.
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