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Biped Robot Modeling and Control Using Controlled Hybrid Automata

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Figure

Figure 1. The kinematic leg [8].
Figure 3, for a set If we consider a controlled hybrid automaton given in K of X, we define the precondition set of K under event (i j,) by the equation Pre (K)= ∩Pre ().ffxKx∈ In fact, the precondition set consists
Figure 4. A cascaded controlled hybrid automaton.
Figure 6. Controlled hybrid automaton model for the biped walking robot.
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