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Embodying Rather Than Encoding: Undulation with Binary Inpu:

, In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Li, Longchuan ; Ma, Shugen ; Tokuda, Isao... - p. 1196-1201 , 2022
Link: https://doi.org/10.1109/IROS47612.2022.9982001