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F. Pfeiffer and Inoue, H., Walking: technology and biology., Philos Transact A Math Phys Eng Sci. , vol. 365, no. 365, p. 1850, 2007.
T. Pipe and Pearson, M. J. &, Whiskered robots, In Scholarpedia of Touch , pp. pp. 809-815, 2015.