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Ground reaction force analysis of biped locomotion:

Yuksel, B ; Zhou, CJ ; Leblebicioğlu, Mehmet Kemal
Yuksel B., Zhou C., Leblebicioglu K., "Ground reaction force analysis of biped locomotion", IEEE Conference on Robotics, Automation and Mechatronics, Singapore, Singapur, 1 - 03 Aralık 2004, ss.330-335.  , 2004