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Zappa, a Quasi-Passive Biped Walking Robot With a Tail: Modeling, Behavior, and Kinematic Estimation Using Accelerometers

Fernando Juan Berenguer Císcar, Félix Monasterio-Huelin Maciá. Zappa, a Quasi-Passive Biped Walking Robot With a Tail: Modeling, Behavior, and Kinematic Estimation Using Accelerometers. IEEE Transactions on Industrial Electronics, 55(9):3281-3289, 2008. [doi]

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