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A New Method of Climbing Downstairs by Changing Layers of G..:

, In: ROMANSY 23 - Robot Design, Dynamics and Control; CISM International Centre for Mechanical Sciences,
Jiang, Tian-ci ; Tanaka, Eiichiro - p. 127-135 , 2020
Link: https://doi.org/10.1007/978-3-030-58380-4_16