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Kelly, Scott D. and Mason, Richard J. and Anhalt, Carl T. et al. (1998) Modelling and experimental investigation of carangiform locomotion for control. In: Proceedings of the 1998 American Control Conference, 21-26 June 1998, Philadelphia PA. Vol.2. IEEE , Piscataway, NJ, pp. 1271-1276. ISBN 0-7803-4530-4.

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