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Logic motion algorithm and design of flexible limb of gecko..:

Peidong, Liang ; Fengshun, Liang ; Lizhi, Gu.
The International Journal of Advanced Manufacturing Technology.  127 (2023)  3-4 - p. 2003-2015 , 2023
Link: https://doi.org/10.1007/s00170-022-10435-5