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Modeling and gait control of a quadruped robot

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Figure

Figure 1.1: The physical ERS-7 Aibo with sensors and actuators [Sony Corporation, 2005a]
Figure 2.1: Sketch of the body parts and joints of the ERS-7 Aibo
Figure 2.2: Block diagram of the model of the Aibo with the kinematics, dynamics and constraints
Figure 2.3: On a collision of a body and the 
oor, forces act on the contact points. The normal force ismodeled with a spatial spring and damper
+7

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