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From 1970's, legged robots have attracted much attention of many researchers. In spite of this, it has been regarded that dynamically stable walking is very difficult to be tackled for any types of legged robots. For a trot gait for quadruped walking robots, we have proposed "the sway compensation trajectory". This method utilizes a lateral, longitudinal, and vertical motion of a robot body to keep a zero moment point (ZMP) on a diagonal line between support legs. In this paper, we develop thedoi:10.1109/robot.2003.1241711 dblp:conf/icra/KurazumeHY03 fatcat:qjipfpy6dnhgnftp3ienwdnwaa