Difference: GeneralizedBiped (8 vs. 9)

Contribution This work allows designing diverse walking styles using more complex controllers such as inverse kinematics, viretual forces and trajectories.

Evaluation: The variety of tests under different circumstances shows the robustness of the solution.

Reproducibility: It is reproducible

Improvements: There are some details about the implementation that are important and not included in the paper.

--Ernesto Torres

-- Main.etorresv - 24 Nov 2011