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Development of a leg part of a humanoid robot-design of a biped walking robot having antagonistic driven joints using a nonlinear spring mechanism

Jin ichi Yamaguchi, Atsuo Takanishi. Development of a leg part of a humanoid robot-design of a biped walking robot having antagonistic driven joints using a nonlinear spring mechanism. Advanced Robotics, 11(6):633-652, 1996. [doi]

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