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This paper presents a biped locomotion control to step sideways based on the framework of the dynamics morphing. Since the proposed controller does not require detailed referential motion trajectories, it enables a robot to walk sideways at arbitrary velocity given at random timing. Sideward locomotion is realized by alternating the velocity following control and the self-excited oscillating control accompanying with the exchange of the supporting foot. Techniques to automatically update the referential position of the center of mass and phase for the consistent footstep are also proposed.

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