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Gregg, R. D., Y. Dhaher, A. Degani, and K. M. Lynch, "On the Mechanics of Functional Asymmetry in Bipedal Walking", IEEE Transactions on Biomedical Engineering, vol. 59, no. 5, pp. 1310–1318, 2012.
Gregg, R. D., Y. Dhaher, and K. M. Lynch, "Functional Asymmetry in a Five-Link 3D Bipedal Walker", IEEE Int. Conf. Engineering in Medicine and Biology Society, Boston, MA, 2011.