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Lee, J. and Lamperski, A. and Schmitt, J. et al. (2006) Task-Level Control of the Lateral Leg Spring Model of Cockroach Locomotion. In: Fast motions in biomechanics and robotics: optimization and feedback control. Lecture notes in control and information sciences. No.340. Springer , Berlin, pp. 167-188. ISBN 3-540-36118-9 http://resolver.caltech.edu/CaltechAUTHORS:20110714-100921034

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