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A diagram of the robot control scheme. | Download Scientific Diagram
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![PDF] A force-control scheme for biped robots to walk over uneven terrain including partial footholds | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/8e09ad1490634c46dd1e553b6376649328d80c67/2-Figure2-1.png "PDF] A force-control scheme for biped robots to walk over uneven terrain including partial footholds | Semantic Scholar")
PDF] A force-control scheme for biped robots to walk over uneven terrain including partial footholds | Semantic Scholar
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