PDF-MinimalisticControlofaCompassGaitRobotinRoughTerrainFumiyaIidaandRussT
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Fig1aPhotographofCompassGaitRobotandbCompassGaitModelwithhipandfootactuatorsgraycircleandrectanglesBlackcirclesdenotethecentersofmassoflegswhicharedeterminedbyTABLEIPECIFICATIONOFTHEROBOT
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