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Hideki Kondo, Yu Ogura, Kazushi Shimomura, Shimpei Momoki, Tatsu Okubo, Hun-ok Lim, Atsuo Takanishi. Emulation of Human Walking by Biped Humanoid Robot with Heel-Contact and Toe-Off Motion. JRM, 20(5):739-749, 2008. [doi]
Abstract is missing.