| http://www.w3.org/ns/prov#value | - Meanwhile, the present applicant has previously proposed a technique, in which a desired gait is generated such that a translational floor reaction force horizontal component of the desired gait does not exceed a permissible range or an arm is swung so as to cancel a moment vertical component generated by anything other than arms in a desired gait in, for example, PCT application PCT/JP02/13596.
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