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Solomon, J. H., M. A. Locascio, and M. J. Z. Hartmann, "Linear reactive control for efficient 2D and 3D bipedal walking over rough terrain", Adaptive Behavior, vol. 21, issue 1, pp. 29 - 46, 02/2013.  (1.18 MB) (8.97 MB) (4.03 MB) (8.42 MB) (7.17 MB) (14.72 MB)