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APA Citation
Spröwitz, A., Tuleu, A., Vespignani, M., Ajallooeian, M., Badri, E., & Ijspeert, A. J. (2013). towards dynamic trot gait locomotion: Design, control, and experiments with Cheetah-cub, a compliant quadruped robot. International journal of robotics research, 32, 932–950. http://access.bl.uk/ark:/81055/vdc_100170934556.0x000012