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From the Newton\u2010Euler equations, joint torques are obtained in terms of joint trajectories, and the inverse dynamics are developed for both the single\u2010support and double\u2010support cases. Physical admissibility of the biped trajectory is characterized in terms of the equivalent force\u2010moment and zero\u2010moment point. This methodology has been used to obtain reference inputs and implement the feedforward control of walking robots. A simulation example illustrates the application of the techniques to plan the forward\u2010walking trajectory of the biped robot. The implementation of a prototype mechanism and controller is also described.<\/jats:p>","DOI":"10.1002\/rob.4620100408","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:28:40Z","timestamp":1183728520000},"page":"531-555","source":"Crossref","is-referenced-by-count":42,"title":["Inverse kinematics and inverse dynamics for control of a biped walking machine"],"prefix":"10.1002","volume":"10","author":[{"given":"Ching\u2010Long","family":"Shih","sequence":"first","affiliation":[]},{"given":"William A.","family":"Gruver","sequence":"additional","affiliation":[]},{"given":"Tsu\u2010Tian","family":"Lee","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(71)90062-9"},{"volume-title":"Legged Locomotion Robots and Anthropomorphic Mechanisms","year":"1976","author":"Vukobratovic M.","key":"e_1_2_1_3_2"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1979.1102105"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/MEX.1986.4307016"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/21.24533"},{"key":"e_1_2_1_8_2","first-page":"149","article-title":"Gait synthesis of the SD\u20102 biped robot to climb stairs","volume":"5","author":"Golden J. 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