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Automated Biped Gait Generetion for Robot Nao in Webots Simulator Using a Bio Inspired Approach Edición Única

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Table 2.1: Nao's principal characteristics concerning height, weight, energy, degrees of  freedom, among others
Figure 2.3: Sagital improvements. Starting with a compass-like walk w r ith only one  D o F to later add the knees and finally the ankles to maximize propulsión
Figure 2.4: Frontal improvements. The focus  i n this plañe is the stability compensating  the lateral movements
Figure 2.6: The walking cycle, starts with the right heel making contact and in double  support phase
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