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Link to original content: https://dblp.dagstuhl.de/rec/journals/robotica/KumarYCK09.xml
R. Prasanth Kumar Jungwon Yoon Christiand Gabsoon Kim The simplest passive dynamic walking model with toed feet: a parametric study. 701-713 2009 27 Robotica 5 https://doi.org/10.1017/S0263574708005079 db/journals/robotica/robotica27.html#KumarYCK09