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Tetsuo Tawara, Yu Okumura, Takayuki Furuta, Masaharu Shimizu, Masaki Shimomura, Ken Endo, Hiroaki Kitano. Morph: A Desktop-Class Humanoid Capable of Acrobatic Behavior. I. J. Robotic Res., 23(10-11):1097-1103, 2004. [doi]
Abstract is missing.