%PDF-1.5 % 4 0 obj << /S /GoTo /D (section.1) >> endobj 7 0 obj (Introduction) endobj 8 0 obj << /S /GoTo /D (section.2) >> endobj 11 0 obj (Preliminaries) endobj 12 0 obj << /S /GoTo /D (subsection.2.1) >> endobj 15 0 obj (Problem statement) endobj 16 0 obj << /S /GoTo /D (subsection.2.2) >> endobj 19 0 obj (Main notation) endobj 20 0 obj << /S /GoTo /D (subsection.2.3) >> endobj 23 0 obj (Kinematics and dynamics) endobj 24 0 obj << /S /GoTo /D (section.3) >> endobj 27 0 obj (Triangular dynamics) endobj 28 0 obj << /S /GoTo /D (subsection.3.1) >> endobj 31 0 obj (CoM, angular momentum end-effector dynamics) endobj 32 0 obj << /S /GoTo /D (section.4) >> endobj 35 0 obj (Control) endobj 36 0 obj << /S /GoTo /D (subsection.4.1) >> endobj 39 0 obj (Controller stability) endobj 40 0 obj << /S /GoTo /D (subsection.4.2) >> endobj 43 0 obj (Controller discussion) endobj 44 0 obj << /S /GoTo /D (section.5) >> endobj 47 0 obj (Experimental validation) endobj 48 0 obj << /S /GoTo /D (subsection.5.1) >> endobj 51 0 obj (Experimental facility description) endobj 52 0 obj << /S /GoTo /D (subsection.5.2) >> endobj 55 0 obj (Controller implementation) endobj 56 0 obj << /S /GoTo /D (subsection.5.3) >> endobj 59 0 obj (Experimental results) endobj 60 0 obj << /S /GoTo /D (subsubsection.5.3.1) >> endobj 63 0 obj (Momentum Dumping experiment) endobj 64 0 obj << /S /GoTo /D (subsubsection.5.3.2) >> endobj 67 0 obj (CoM Control experiment) endobj 68 0 obj << /S /GoTo /D (subsection.5.4) >> endobj 71 0 obj (Discussion and controller limitations) endobj 72 0 obj << /S /GoTo /D (section.6) >> endobj 75 0 obj (CONCLUSIONS AND FUTURE WORKS) endobj 76 0 obj << /S /GoTo /D (section.7) >> endobj 79 0 obj (Momentum expression) endobj 80 0 obj << /S /GoTo /D (section*.2) >> endobj 83 0 obj (References) endobj 84 0 obj << /S /GoTo /D [85 0 R /Fit] >> endobj 98 0 obj << /Length 3820 /Filter /FlateDecode >> stream xڭZK6W訩1$m'uRL*Sɯ߯xllt7*\z~^F*\EIPġZVQ,L"V,Y݇hf5g3Tm#ݍ"n|m\W( >4ۣxhYւ%-+0Zmt\ɢj)#$M WUەieXeA3m#qQtqP);/̍ JhkU kNdwux7?m4*S*Va&tU%!S6a9}&na*0Z䕬Ъ*4FIz@EC?tf;};֫Mf_L3CHn5 fr<-L]? Q>DậGк D>4 ,Ͷ=ftMǫ(tª6x4uov;ܞ|' !JvV$Ÿ+GpyZfky7ͣö;f}'KFayyY} {;Ӭ-: *.O$S6+VS}oK!`&;C 1,_˙dEu!6q4qKzBS"b_z0mǞh^|_|)!MΖ0ǶUx` ,,gFW7ns0=uSX$|'"D&Zaڛ`0}Wٺβt5ZLFn' X[CxzӞ@ZtxIǭ`nia{h^mO7Y^.%W'ƱUitM]YP^T\dPf䦔b>|rJ(D`LǗ,7hC{#|OobrtsW)4$6QL֗=&H`fF؋ZȘ3KkE %gOc_=6ײ?rC-EPXHA^l;yX۱' `G.v&JS');6|>Ҩ`mEGej"P,"X.'튿C襁˥V~-u~}8"ȥl[P;Gsj1fiRC5qם-G:@""ߏH~$F,n巂c4ol;kDYU=RuSI(uN0cû dVZ6ߍ.uaZJ[mH } TK@oMa !+eι{\$$'wBaZ"BY8a]x ڣǵW4a]dqnű^pLB'Mq,0PDH26u^ K;1|bq˘tT '7KKs9DbA1PM9j'!c]pF Tvn8vv[!rriF6mؼ!sE;]jn79T3+A %9ئkn_ 7_0f M~._} Ng/]<-*oiO5L_8Qʎ!W ^#JJr,A폖BH`G 3j/XZýh?LG1{4$mjRzv>xpl>~4'>Rz4~h4y(wJ2 ų!֑z CϒNmKZ2Q>3DZVZlA'tFF]OɌ[uۡ6ӝ$~^@)rP䌺!bE,1õbs e95{$1BȮKu84[G-_ΒIQӺwCNoKFN xzh T63ŗ7#g&ޑ:pdP| B>chA 9IZ ȝ7/0 r$Wyydpݚ^/h %Գ@u`/S˞J"SNp%/
c$E5K.8dnٳ`lɂ5?q7,
ɡ*=x&.ݞd
}mmyU{#91q%YX")y\rbwʛGZ]5q #FYRtu-H}ԘC%JM+m٪!V6 5 hw6jJI[~/\\F%bg:=R縭rA{_ړ|!gPrnuΩ6Zy/HsP.OzpVe2.DYPh* "8b
1qh eCÞ%ntN\)\(~+
VJ
~$QlnaIRALez!pLR:WJ%Zg0|e' +J4 fƬ^s3ȍ>7#SWZHn$s%
y@
3Ve-Gi\.W
D) Wg?0yizwE?G'`?ڦH,1^eAeC#U c#ט:7
ȼs
0NUv$GKf:b^ZguJ~-
la6y=%,5G`"@YƘ)x^e5$--/1!SI?0aVALgi}r:Kf3L&`(
zMS 4ts p!"_A&u9)Wܰp^g{#T7~qo~-}io\U t}fٽE eo0RzޖM,KN|`aZI SiVfE1~?=ޝ;J%_ { Oө`wBHUJ"pԚɓ,EC'nP7b":` B-4BY@=ΒX4Θaȇ|{)-K
yG{۩ɽfϽΪ