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MIT Cheetah 1을 가지고 control 한 논문에서 

 

gait-pattern modulator, trajectory generator 부분만 정리했습니다.

 

https://www.slideshare.net/babchol/paper-review-mit-cheetah-1-gaitpattern-trajectory-generator

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93 [강화학습 스터디] Dynamic Programming 정리 file 최한철 2019.02.08 278