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===== Dr. Youngbum Jun Thesis Study =====

{{yb_thesis:youngbumjun_phdthesis.pdf|Humanoids Toward Practical Applications - Robotic Material Handling (Youngbum Jun Thesis)}}

++Papers|\\ 
\\ [1] {{yb_thesis:1.pdf|N. Alunni, C. Phillops-Gran, H. Bener, D. Lofaro, D. Berenson, S. Chernova, R. Lindeman, and P. Oh, "Toward a user-guided manipulation framework for high-dof robots with limited communication," in Technologies for Practical Robot Applications (TePRA), 2013 IEEE International Conference on, Apr 2013, Conference, pp. 1-6.}}
\\ [[https://ieeexplore.ieee.org/document/6556356|IEEE Xplore]]
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\\ [2] {{yb_thesis:2.pdf|H. Arisumi, J. Chardonnet, A. Kheddar, and K. Yokoi, "Dynamic lifting motion of humanoid robots," in Robotics and Automation, 2007. Proceedings. 2007 IEEE International Conference on, Apr 2007, Conference, pp. 2661-2667.}}
\\ [[https://ieeexplore.ieee.org/document/4209485|IEEE Xplore]]
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\\ [3] {{yb_thesis:3.pdf|H. Arisumi, S. Miossec, J. Chardonnet, and K. Yokoi, "Dynamic lifting by whole body motion of humanoid robots," in Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, Sep 2008, Conference, pp. 668-675.}}
\\ [[https://ieeexplore.ieee.org/document/4651195|IEEE Xplore]]
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\\ [4] {{yb_thesis:4.pdf|H. Arisumi, S. Miossec, J. Chardonnet, and K. Yokoi, "Whole-body motion of a humanoid robot for passing through a door: opening a door by impulsive force," in Intelligent Robots and Systems, 2009.
IROS 2009. IEEE/RSJ International Conference on, Oct 2009, Conference, pp. 428-434.}}
\\ [[https://ieeexplore.ieee.org/document/5354087|IEEE Xplore]]
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\\ [5] {{yb_thesis:5.pdf|T. Asfour and R. Dillmann, "Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem," in Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, vol. 2, Oct 2003, Conference, pp. 1407-1412.}}
\\ [[https://ieeexplore.ieee.org/document/1248841|IEEE Xplore]]
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\\ [6] {{yb_thesis:6.pdf|D. Berenson, J. Chestnutt, S. Srinivasa, J. Kuffner, and S. Kagami, "Pose-constrained whole-body planning using task space region chains," in Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on, Dec 2009, Conference, pp. 181-187.}}
\\ [[https://ieeexplore.ieee.org/document/5379604|IEEE Xplore]]
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\\ [7] {{yb_thesis:7.pdf|D. Berenson, S. Srinivasa, D. Ferguson, and J. Kuffner, "Manipulation planning
on constraint manifolds," in Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, May 2009, Conference, pp. 625-632.}}
\\ [[https://ieeexplore.ieee.org/document/5152399|IEEE Xplore]]
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\\ [9] {{yb_thesis:9.pdf|S. Buss, "Introduction to inverse kinematics with jacobian transpose, pseudoinverse
and damped least squares methods," IEEE Journal of Robotics and Automation, 2004.}}
\\ [[https://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf|UCSD]]
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\\ [10] {{yb_thesis:10.pdf|Y. Cha, S. Hong, D. Kim, B. You, and S. Oh, "Whole-body humanoid balance control with dynamically loading/unloading objects," in Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, Dec 2009, Conference, pp. 1687-1691.}}
\\ [[https://ieeexplore.ieee.org/document/5420412|IEEE Xplore]]
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\\ [11] {{yb_thesis:11.pdf|Y. Chang, Y. Oh, D. Kim, and S. Hong, "Balance control in whole body coordination
framework for biped humanoid robot mahru-r," in Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium on, Aug 2008, Conference, pp. 401-406.}}
\\ [[https://ieeexplore.ieee.org/document/4600699|IEEE Xplore]]
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\\ [12] {{yb_thesis:12.pdf|B. Cho, S. Park, and J. Oh, "Controllers for running in the humanoid robot, hubo," in Humanoid Robots 2009, 9th IEEE-RAS International Conference on, Dec 2009, Conference, pp. 385-390.}}
\\ [[https://ieeexplore.ieee.org/document/5379574|IEEE Xplore]]
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\\ [13] {{yb_thesis:13.pdf|Y. Choi, D. Kim, and B. You, "On the walking control for humanoid robot based on the kinematic resolution of com jacobian with embedded motion," in Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, May 2006, Conference, pp. 2655-2660.}}
\\ [[https://ieeexplore.ieee.org/document/1642102|IEEE Xplore]]
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\\ [14] {{yb_thesis:14.pdf|Y. Choi, B. You, and S. Oh, "On the stability of indirect zmp controller for
biped robot systems," in Intelligent Robots and Systems, 2004, Proceedings.
2004 IEEE International Conference on, vol. 2, June 2004, Conference, pp.
3-10.}}
\\ [[https://ieeexplore.ieee.org/document/1389686|IEEE Xplore]]
\\ 
\\ [15] {{yb_thesis:15.pdf|H. Dallali, M. Brown, and B. Vanderborght, "Using the torso to compensate for
non-minimum phase behaviour in zmp bipedal walking," Journal of Advancs in
Robotics Research, vol. 2, pp. 191-202, 2009.}}
\\ [[https://link.springer.com/chapter/10.1007/978-3-642-01213-6_18|Springer]]
\\ 
\\ [16] {{yb_thesis:16.pdf|H. Dang, Y. Jun, P. Oh, and P. Allen, "Planning complex physical tasks for disaster response with a humanoid robot," in Technologies for Practical Robot Applications (TePRA), 2013 IEEE International Conference on, Apr 2013, Conference, pp. 1-6.}}
\\ [[https://ieeexplore.ieee.org/document/6556365|IEEE Xplore]]
\\ 
\\ [18] {{yb_thesis:18.pdf|K. Erbatur and O. Kurt, "Natural zmp trajectories for biped robot reference
generation," Industrial Electronics, IEEE Transaction on, vol. 56, no. 3, pp.
835-845, Mar 2009.}}
\\ [[https://ieeexplore.ieee.org/document/4633623/|IEEE Xplore]]
\\ 
\\ [19] {{yb_thesis:19.pdf|P. Evrard, E. Gribovskaya, S. Calinon, A. Billard, and A. Kheddar, "Teaching physical collaborative tasks: object-lifting case study with a humanoid," in Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on, Dec 2009, Conference, pp. 399-404.}}
\\ [[https://ieeexplore.ieee.org/document/5379513|IEEE Xplore]]
\\ 
\\ [20] {{yb_thesis:20.pdf|C. Fu and K. Chen, "Gait synthesis and sensory control of stair climbing for
a humanoid robot," Industrial Electronics, IEEE Transaction on, vol. 55, pp.
2111-2120, May 2008.}}
\\ [[https://ieeexplore.ieee.org/document/4475434//|IEEE Xplore]]
\\ 
\\ [21] {{yb_thesis:21.pdf|A. Goswami and V. Kallem, "Rate of change of angular momentum and balance maintenance of biped robots," in Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, vol. 4, Apr 2004, Conference, pp. 3785-3790.}}
\\ [[https://ieeexplore.ieee.org/document/1308858|IEEE Xplore]]
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\\ [22] {{yb_thesis:22.pdf|Y. Gu, T. Anand, and W. Sheng, "Human-robot collaborative manipulation through imitation and reinforcement learning," in Information and Automation (ICIA), 2011 IEEE International Conference on, Jun 2011, Conference, pp. 151-156.}}
\\ [[https://ieeexplore.ieee.org/document/5948979|IEEE Xplore]]
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\\ [23] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [24] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
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\\ [25] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
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\\ [26] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
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\\ [27] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [28] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [29] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [30] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [31] {{yb_thesis:31.pdf|J. Hing and P. Oh, "Mixed reality for unmanned aerial vehicle operations
in near earth environments," in Intelligent Robots and Systems (IROS), 2010
IEEE/RSJ International Conference on, Oct 2010, Conference, pp. 2537-2538.}}
\\ [[https://ieeexplore.ieee.org/document/5649417/|IEEE Xplore]]
\\ 
\\ [32] {{yb_thesis:32.pdf|K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of honda
humanoid robot," in Robotics and Automation, 1998. Proceedings. 1998 IEEE
International Conference on, vol. 2, May 1998, Conference, pp. 1321-1326.}}
\\ [[https://ieeexplore.ieee.org/document/677288/|IEEE Xplore]]
\\ 
\\ [33] {{yb_thesis:33.pdf|G. Homann, H. Huang, S. Waslander, and C. Tomlin, "Quadrotor helicopter
flight dynamics and control: Theory and experiment," in AIAA Guidance, Nav-
igation and Control Conference and Exhibit, vol. 2, 2007, Conference.}}
\\ [[https://arc.aiaa.org/doi/10.2514/6.2007-6461|ARC]]
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\\ [34] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [35] {{yb_thesis:35.pdf|Q. Huang, S. Kajita, N. Koyachi, K. Kaneko, K. Yokoi, H. Arai, K. Komoriya,
and K. Tanie, "A high stability, smooth walking pattern for a biped robot," in
Robotics and Automation, 1999, Proceedings. 1999 IEEE International Confer-
ence on, vol. 1, 1999, conference, pp. 65-71.}}
\\ [[https://ieeexplore.ieee.org/document/769932/|IEEE Xplore]]
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\\ [36] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [37] {{yb_thesis:37.pdf|Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, and K. Tanie,
"Planning walking patterns for a biped robot," Robotics and Automation, IEEE
Transactions on, vol. 17, no. 3, pp. 280-289, June 2001.}}
\\ [[https://ieeexplore.ieee.org/document/938385/|IEEE Xplore]]
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\\ [38] {{yb_thesis:38.pdf|W. Huang, C. Chew, Y. Zheng, and G. Hong, "Pattern generation for bipedal
walking on slopes and stairs," in Humanoid Robots 2008, 8th IEEE-RAS Inter-
national Conference on, Dec 2008, Conference, pp. 205-210.}}
\\ [[https://ieeexplore.ieee.org/document/4755946/|IEEE Xplore]]
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\\ [39] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [40] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [41] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [42] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [43] {{yb_thesis:43.pdf|Y. Jun and P. Oh, "realiztion of miniature humanoid for obstacle avoidance
with real-time zmp preview control used for full-sized humanoid," in Humanoid
Robots 2010, 10th IEEE-RAS International Conference on, Dec 2010, Conference,
pp. 46-51.}}
\\ [[https://ieeexplore.ieee.org/document/5686276/|IEEE Xplore]]
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\\ [44] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [45] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [46] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [47] {{yb_thesis:47.pdf|S. Kajita, F. Kanehiro, K. Kaneko, K. Fujiwara, K. Harada, K. Yokoi, and
H. Hirukawa, "Biped walking pattern generation using preview control of
the zero-moment-point," in Robotics and Automation, 2003. Proceedings. 2003
IEEE International Conference on, vol. 2, Sep 2003, Conference, pp. 1620-1626.}}
\\ [[https://ieeexplore.ieee.org/document/1241826/|IEEE Xplore]]
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\\ [48] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [49] {{yb_thesis:49.pdf|S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, "The 3d linear
inverted pendulum model: A simple modeling for a biped walking pattern
generation," in Intelligent Robots and Systems, 2001. IEEE/RSJ International
Conference on, vol. 1, Oct 2001, Conference, pp. 239-246.}}
\\ [[https://ieeexplore.ieee.org/document/973365/|IEEE Xplore]]
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\\ [50] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [51] {{yb_thesis:51.pdf|K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki, M. Hirata,
K. Akachi, and T. Isozumi, "Humanoid robot hrp-2," in Robotics and Automa-
tion, 2004. Proceedings. 2004 IEEE International Conference on, vol. 2, Apr
2004, Conference, pp. 1083-1090.}}
\\ [[http://ieeexplore.ieee.org/document/1307969|IEEE Xplore]]
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\\ [52] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [53] {{yb_thesis:53.pdf|T. Katayama, T. Ohki, T. Inoue, and T. Kato, “Design of an optimal controller for a discrete-time system subject to previewable demand,” International Journal of Control, vol. 41, pp. 677–699, Mar 1985.}}
\\ [[https://www.researchgate.net/publication/245321315_Design_of_an_optimal_controller_for_a_discrete-time_system_subject_to_previewable_demand|ResearchGate]]
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\\ [54] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [55] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [56] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
\\ [[http://ieeexplore.ieee.org/document/####/|IEEE Xplore]]
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\\ [57] {{yb_thesis:57.pdf|J. Kim, "Walking pattern generation of a biped walking robot using convolution
sum," in Humanoid Robots 2007, 7th IEEE-RAS International Conference on,
Dec 2007, Conference, pp. 539-544.}}
\\ [[https://ieeexplore.ieee.org/document/4813923/|IEEE Xplore]]
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\\ [58] {{yb_thesis:58.pdf|J. Kim and J. Oh, "Walking control of the humanoid platform khr-1 based on
torque feedback control," in Robotics and Automation, 2004. Proceedings. 2004
IEEE International Conference on, vol. 1, April 2004, Conference, pp. 623-628.}}
\\ [[https://ieeexplore.ieee.org/document/1307218/|IEEE Xplore]]
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\\ [59] {{yb_thesis:59.pdf|J. Kim, I. Park, and J. Oh, "Walking control algorithm of biped humanoid
robot on uneven and inclined 
oor," Journal of intelligent and robotic systems,
vol. 48, no. 4, pp. 457-484, Apr 2007.}}
\\ [[https://link.springer.com/article/10.1007/s10846-006-9107-8|Springer]]
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\\ [60] {{yb_thesis:60.pdf|Wang, H., Li, Y. & Ning, L., "Realization of dynamic stair climbing for biped humanoid robot using
force-torque sensors," Journal of Intelligent and Robotic Systems, vol. 56, pp.
389-423, 2009.}}
\\ [[https://link.springer.com/article/10.1007/s12555-013-0257-8|Springer]]
\\ 
\\ [61] {{yb_thesis:61.pdf|M. Kim, S. Park, and J. Oh, "Realization of stretch-legged walking of the humanoid
robot," in Humanoid Robots 2008, 8th IEEE-RAS International Con-
ference on, Dec 2008, Conference, pp. 118-124.}}
\\ [[https://ieeexplore.ieee.org/document/4755941/|IEEE Xplore]]
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\\ [62] {{yb_thesis:62.pdf|S. Kim and Y. Sankai, "Stair climbing task of humanoid robot by phase composition
and phase sequence," in Robots and Human Interactive Communication,
IEEE International Workshop on, 2005, Conference, pp. 531-536.}}
\\ [[https://ieeexplore.ieee.org/iel5/10132/32428/01513834.pdf|IEEE Xplore]]
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\\ [63] {{yb_thesis:63.pdf|Y. Kim, B. Lee, J. Yoo, J. Kim, and J. Ryu, "Compensation for the landing impact
force of a humanoid robot by time domain passivity approach," in Robotics
and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Con-
ference on, May 2006, Conference, pp. 1225-1230.}}
\\ [[http://ieeexplore.ieee.org/document/1641876/|IEEE Xplore]]
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\\ [64] {{yb_thesis:paperfilename.pdf|Full Paper Citation Here}}
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\\ [66] {{yb_thesis:66.pdf|O. Kurt and K. Erbatur, "Biped robot reference generation with natural zmp
trajectories," in Advanced Motion control, 2006. 9th IEEE International Work-
shop on, 2006, Conference, pp. 403-410.}}
\\ [[https://ieeexplore.ieee.org/document/1631693/|IEEE Xplore]]
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\\ [67] {{yb_thesis:67.pdf|W. Kwon, H. Kim, J. Park, C. Roh, J. Lee, J. Park, W. Kim, and K. Roh,
"Biped humanoid robot mahru-3," in Humanoid Robots, 2007 7th IEEE-RAS
International Conference on, Nov 2007, Conference, pp. 583-588.}}
\\ [[http://ieeexplore.ieee.org/document/4813930/|IEEE Xplore]]
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\\ [70] {{yb_thesis:70.pdf|T. Li, Y. Su, C. Kuo, C. Chen, C. Hsu, and M. Lu, "Stair-climbing control
of humanoid robot using force and accelerometer sensors," in SICE Annual
Conference, Sep 2007, Conference.}}
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of a biped robot," Industrial Electronics, IEEE Transactions on, vol. 51, no. 5,
pp. 972-980, Oct 2004.}}
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tomation, 2006. Proceedings. 2006 IEEE International Conference on, 2006,
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patterns for uneven terrains," in Humanoid Robots 2010, 10th IEEE-RAS In-
ternational Conference on, Dec 2010, Conference, pp. 455-460.}}
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robot khr-3(kaist humanoid robot-3: Hubo," in Humanoid Robots 2006,
6th IEEE-RAS International Conference on, Dec 2006, Conference, pp. 398-
403.}}
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Robotics and Automation, 2007 IEEE International Conference on, Apr 2007,
Conference, pp. 2682-2687.}}
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quadruped robot," in In Proceedings of the 17th World Congress, 2008,
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++\\ 

==== Chapter 1 ====

==== Chapter 2 ====