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DAFTAR PUSTAKA

[1] X. Xinjilefu, S. Feng, and C. G. Atkeson, “Center of Mass Estimator for Humanoids and its Application in Modelling Error Compensation, Fall Detection and Prevention,” IEEE-RAS Int. Conf. Humanoid Robot., pp. 67–73, 2015. [2] A. Ruina and R. Pratap, “Center of mass and gravity,” Introd. to Statics Dyn.,

vol. 1, pp. 78 – 91, 2010.

[3] W. T. Higgins, “A Comparison of Complementary and Kalman Filtering,” vol. 1975, no. 3, pp. 321–325, 1975.

[4] S. Colton, “The Balance Filter A Simple Solution for Integrating Accelerometer and Gyroscope Measurements for a Balancing Platform,” Massachusetts Inst. Technol. Cambridge, p. 20, 2007.

[5] K. A. Tehrani and A. Mpanda, “PID Control Theory,” no. 1, 1939.

[6] D. Galdeano, A. Chemori, and P. Fraisse, “A Nonlinear PID Stabilizer With Spherical Projection for Humanoids : From Concept to Real-time Experiments,” 2014.

[7] S. J. Yi, B. T. Zhang, D. Hong, and D. D. Lee, “Online learning of a full body push recovery controller for omnidirectional walking,” IEEE-RAS Int. Conf. Humanoid Robot., pp. 1–6, 2011.

[8] F. Barras, “Stabilization of a Biped Robot with its arms A Practical Approach,” no. May, 2010.

[9] M. H. P. Dekker, “Zero-Moment Point Method for Stable Biped Walking,”

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