Tetsuya Kinugasa, Takashi Ito, Hiroaki Kitamura, Kazuhiro Ando, Shinsaku Fujimoto, Koji Yoshida, Masatsugu Iribe. 3D Dynamic Biped Walker with Flat Feet and Ankle Springs: Passive Gait Analysis and Extension to Active Walking. JRM, 27(4):444-452, 2015. [doi]
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