Li Z, Vanderborght B, Tsagarakis NG, Caldwell DG. Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion. In: IEEE International Conference on Robotics and Biomimetics, 2010. IEEE International Conference on Robotics and Biomimetics, 2010. ; 2010. Available from: http://goo.gl/9447Yq

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Li Z, Vanderborght B, Tsagarakis NG, Caldwell DG. Human-like Walking with Straightened Knees, Toe-off and Heel-strike for the Humanoid Robot iCub. In: UKACC International Conference on CONTROL, 2010. UKACC International Conference on CONTROL, 2010. ; 2010. Available from: http://goo.gl/Elhzan

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Li Z, Tsagarakis NG, Caldwell DG, Vanderborght B. Trajectory Generation of Straightened Knee Walking for Humanoid Robot iCub. In: International Conference Control and Automation, Robics and Vision , 2010. International Conference Control and Automation, Robics and Vision , 2010. ; 2010. Available from: http://goo.gl/q2Pm3A

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Tsagarakis NG, Li Z, Saglia JA, Caldwell DG. The Design of the Lower Body of the Compliant Humanoid Robot ’’cCub’’. In: International Conference on Robotics and Automation. International Conference on Robotics and Automation. Shanghai; 2011. Available from: http://goo.gl/uoZDO8

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Dallali H, Kormushev P, Li Z, Caldwell DG. On Global Optimization of Walking Gaits for the Compliant Humanoid Robot, COMAN Using Reinforcement Learning. Journal of Cybernetics and Information Technologies. 2012 ;vol. 12, no. 3:pp. 39-52.

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Colasanto L, Tsagarakis NG, Li Z, Caldwell DG. Internal Model Control for Improving the Gait tracking of a Compliant Humanoid Robot. In: IROS. IROS. ; 2012.

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Li Z, Tsagarakis NG, Caldwell DG. A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots. Osaka, Japan; 2012. Available from: https://sites.google.com/site/alexrobotics/Online_Humanoid2012.pdf?attredirects=0&d=1

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Li Z, Tsagarakis NG, Caldwell DG. A Passivity Based Admittance Control for Stabilizing the Compliant Humanoid COMAN. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots. Osaka, Japan; 2012.

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Li Z, Vanderborght B, Tsagarakis NG, Colasanto L, Caldwell DG. Stabilization for the Compliant Humanoid Robot COMAN Exploiting Intrinsic and Controlled Compliance. In: IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation. Minnesota, USA; 2012. Available from: https://sites.google.com/site/alexrobotics/Online_Stabilizer%20ICRA_V21_Correction.pdf?attredirects=0&d=1

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Calinon S, Li Z, Alizadeh T, Tsagarakis NG, Caldwell DG. Statistical dynamical systems for skills acquisition in humanoids. In: Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids), p.323-329. Proc. IEEE Intl Conf. on Humanoid Robots (Humanoids), p.323-329. Osaka, Japan; 2012. Available from: http://www.researchgate.net/publication/234154957_Statistical_dynamical_systems_for_skills_acquisition_in_humanoids/file/32bfe50f99c7f06a98.pdf

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Li Z, Tsagarakis NG, Caldwell DG. Walking Trajectory Generation for Humanoid Robots with Compliant Joints: Experimentation with COMAN Humanoid. In: IEEE International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation. Minnesota, USA; 2012. Available from: http://goo.gl/Sj20Gk

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Tsagarakis NG, Morfey S, Cerda GM, Li Z, Caldwell DG. Compliant Humanoid COMAN: Optimal Joint Stiffness Tuning for Modal Frequency Contro. In: International Conference on Robotics and Automation. International Conference on Robotics and Automation. ; 2013. Available from: http://goo.gl/qYP3KH

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Dallali H, Mosadeghzad M, Medrano-Cerda G, Docquier N, Kormushev P, Tsagarakis NG, Li Z, Caldwell DG. Development of a Dynamic Simulator for a Compliant Human-oid Robot Based on a Symbolic Multibody Approach. In: IEEE International Conference on Mechatronics. IEEE International Conference on Mechatronics. ; 2013. Available from: http://kormushev.com/papers/Dallali_ICM-2013.pdf

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Mosadeghzad M, Li Z, Tsagarakis NG, Medrano-Cerda G, Dallali H, Caldwell DG. Optimal Ankle Compliance Regulation for Humanoid Balancing Control”, IEEE International Conference on Intelligent Robots and Systems (IROS), 2013, pp 4118-4123. In: IEEE International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems. ; 2013.

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Li Z, Tsagarakis NG, Caldwell DG. Stabilizing Humanoids on Slopes Using Terrain Inclination Estimation. In: IEEE International Conference on Intelligent Robots and Systems. IEEE International Conference on Intelligent Robots and Systems. ; 2013.

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Li Z, Tsagarakis NG, Caldwell DG. Walking Pattern Generation for a Humanoid Robot with Compliant Joints. Autonomous Robots [Internet]. 2013 ;35(1). Available from: http://link.springer.com/article/10.1007/s10514-013-9330-7/fulltext.html

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