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Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining

Joaquin Estremera, J. A. Cobano, Pablo González de Santos. Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining. Robotics and Autonomous Systems, 58(5):700-711, 2010. [doi]

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