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Unstable states in four-legged locomotion

Tadej Bajd, Alojz Kralj, Tomaz Karcnik. Unstable states in four-legged locomotion. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1994, September 12 - 16, 1994, Munich, Germany. pages 1019-1025, IEEE, 1994. [doi]

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