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    Optimal trajectory generation for biped robots walking up-and-down stairs

    This paper proposes an optimal trajectory generation method for biped robots for walking up-and-down stairs using a Real-Coded Genetic Algorithm (RCGA). The RCGA is most effective in minimizing the total consu...

    Ohung Kwon, Kweon Soo Jeon, Jong Hyeon Park in Journal of Mechanical Science and Technology (2006)