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Geng, Tao ORCID: https://orcid.org/0000-0002-6863-243X (2014) Torso inclination enables faster walking in a planar biped robot with passive ankles. IEEE Transactions on Robotics, 30 (3) . pp. 753-758. ISSN 1552-3098 (doi:10.1109/TRO.2014.2298058)

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