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M. Rijal

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Preprint Sep 2026

Walking on the Slope: Stable Bipedal Gaits with Genetic-Algorithm-Optimized Trajectories

This paper presents the kinematic and dynamic modeling, trajectory generation, and stability analysis of an 8-degree-of-freedom (DOF) biped robot walking on flat and inclined terrain. Denavit-Hartenberg (DH) parameters and homogeneous transformations are used to derive the forward kinematics, while closed-form inverse...

M. Rijal · 0 citations

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