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Huang, Y., Wang, Q.-N., Gao, Y. and Xie, G.-M. (2012) Modeling and Analysis of Passive Dynamic Bipedal Walking with Segmented Feet and Compliant Joints. Acta Mechanica Sinica, 28, 1457-1465.
https://doi.org/10.1007/s10409-012-0079-6

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