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This paper mainly addresses its mechatronics system realization, including the conceptual design, actuation system, sensing system, and control system. In addition, a walking stability controller based on zero moment point criterion and the walking simulation are presented. Finally, experiments validate and confirm the efficiency of the design.<\/jats:p>","DOI":"10.1017\/s0263574707003645","type":"journal-article","created":{"date-parts":[[2007,7,5]],"date-time":"2007-07-05T07:48:45Z","timestamp":1183621725000},"page":"109-116","source":"Crossref","is-referenced-by-count":16,"title":["Design aspects and development of humanoid robot THBIP-2"],"prefix":"10.1017","volume":"26","author":[{"given":"Zeyang","family":"Xia","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing","family":"Xiong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiang","family":"Yi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ken","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2008,1,1]]},"reference":[{"key":"S0263574707003645_ref17","first-page":"457","article-title":"Experimental analysis on humanlocomotion for natural gait planning of humanoid robots","volume":"29","author":"Xia","journal-title":"Robot"},{"key":"S0263574707003645_ref11","unstructured":"11. 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