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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. 賴信成，林志哲，"雙足部型機器人之步姿運動槼劃及控制"，大葉大學機械工程學系碩士論文，民國92年6月。