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Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design

Sergej Celikovský, Milan Anderle, Claude H. Moog. Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design. In European Control Conference, ECC 2013, Zurich, Switzerland, July 17-19, 2013. pages 682-689, IEEE, 2013. [doi]

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