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1.2.Z XY [1] Vukobratovi, M., Frank, A., and Jurii, D., On the Stability ofBiped Locomotion, IEEE Transactions on Bio-Medical Engineering,Vol.BME-17, No.1, pp.25-36., 1970[2] Yamaguchi, J., and Takanishi, A., Development of a Leg Part of aHumanoid RobotDevelopment of a Biped Walking Robot Adaptingto the Humans Normal Living Floor, Autonomous Robots, Vol.43,pp.69-385, 1997[3] Yamaguchi, J., Takanishi, A., and Kato, I., Development of a BipedWalking Robot Compensating for Three-Axis Moment by TrunkMotion, Proceedings of the 1993 IEEE/RSJ International Conferenceon Intelligent Robots and Systems, pp. 561-566, 1993[4] P. H. Channon, S. H. Hopkins, and D.T. Pham,Derivation of OptimalWalking Motions for a Bipedal Walking Robot, Robotics, Vol. 10,pp.165-172, 1992[5] Kajita, S.; Kanehiro, F.; Kaneko, K.; Fujiwara, K.; Harada, K.; Yokoi,K. and Hirukawa, H., Biped walking pattern generation by usingpreview control of zero-moment point, IEEE/RSJ InternationalConference on Robotics and Automation, Vol 2,pp.1620-1626, 2003[6] Lim, H., Setiawan, S., and Takanishi, A., Balance and ImpedanceControl for Biped Humanoid Robot Locomotion., Proceedings of the2001 IEEE/RSJ International Conference on Intelligent Robots andSystems, pp. 494-499, 2001[7] Park, J.H., and Chung, H., Hybrid Control for Biped Robots UsingImpedance Control and Computed-Torque Control, Proceedings ofthe 1999 International Conference on Robotic and Automation, pp.1365-1370, 1999[8] Lum, H.K., Zribi, M., and Soh, Y.C., Planning and Control of a BipedRobotInternational Journal of Engineering Science, Vol.37,pp.1319-1349, 1999[9] Park, J.H., Fuzzy-Logic Zero-Moment-Point Trajectory Generationfor Reduced Trunk Motions of Biped Robots, Fuzzy Sets andSystems, Vol.134, pp.189-203, 2003[10] Kim, J.G., Noh, K., and Park, K., Human-Like Dynamic Walkingfor a Biped Robot Using Genetic Algorithm, ICES 2001, LNCS2210, pp. 159-170, 2001[11] Jin-Geol Kim, Sang-Ho Choi, Young-Ha Choi, Optimal WalkingTrajectory Generation for a Biped Robot Using Genetic Algorithm,Proceedings of the 1999 IEEE/RSJ International Conference onIntelligent Robots and Systems Vol3, pp.1456 1461,1999[12] Nirut Naksuk and C.S. George Lee, Utilization of MovementPrioritization for Whole-Body Humanoid Robot TrajectoryGeneration, Proceedings of the 2005 IEEE InternationalConference on Intelligent Robotics and Automation , pp.1079 1084, 2005[13] Sardain, P., Bessonnet, G., Zero moment point-measurements froma human walker wearing robot feet as shoes, IEEE Transactions onSystems, Man, and Cybernetics, Vol34, pp.638-648, 2004[14] Huang, Q., Nakamura, Y. and Inamura, T. Humanoids walk withfeedforward dynamic pattern and feedback sensory reflectionProceedings os the IEEE International Conference on Robotics andAutomation, pp. 4220-4225, 2001

[15] Shuuji Kajita, Kazuo Tani,Adaptive Gait Control of a Biped Robotbased on Realtime Sensing of the Ground Profile, Proceedings ofthe 1996 IEEE International Conference on Robotics andAutomation Minneapolis, Minnesota-April6, pp.570-577, 1996[16] Hemami, H., Farnsworth, R., Postural and gait stability of a planarfive link biped by simulation, IEEE Transactions on AutomaticControl, Vol22, pp.452 458, 1977[17] Takanishi, A., Tochizawa, M., Karaki, H., and Kato, I., DynamicBiped Walking Stabilized with Optimal Trunk and Waist Motion,IEEE/RSJ International Workshop on Intelligent Robots and Systems,pp.187-192, 1989[18] , , , 2004[19] , ,, , , 2005[20] ,BR2 , , ,1995[21] ,,,2003[22] ,,1997[23] 2002[24] 1997[25] MATLAB 2000[26] 2002