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Journal of Robotics
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Journal of Robotics
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2024
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Article
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Tab 1
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Research Article
Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control
Table 1
Physical parameters of the bipedal robot.
Bipedal parts
Moments of inertia (kgm
2
)
Lengths (m)
Masses (kg)
Foot
0.016
0.3
2
Shank
0.06
0.45
3.6
Thigh
0.06
0.45
3.7
Trunk
0.145
0.45
10