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Hun-ok Lim, Yousuke Yamamoto and Atsuo Takanishi “Control to Realize Human-like Walking of a Biped Humanoid Robot”Humanoid Research Institute, Waseda University. 赖信成，林志哲，"双足部型机器人之步姿运动规划及控制"，大叶大学机械工程学系硕士论文，民国92年6月。