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Tripod gait using buffer area around leg workspace for flex..:

, In: 2020 17th International Conference on Ubiquitous Robots (UR),
Ishida, Kenichi ; Takubo, Tomohito ; Kobayashi, Daiki. - p. 213-218 , 2020
Link: https://doi.org/10.1109/UR49135.2020.9144921