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Running on four legs as though they were one., , and . IEEE J. Robotics and Automation, 2 (2): 70-82 (1986)Conditions for symmetric running in single- and double-support., and . ICRA, page 1890-1895. IEEE, (1987)Motion creating system for a small biped entertainment robot., , , , , , , , , and . IROS, page 1394-1399. IEEE, (2003)Animation of dynamic legged locomotion., and . SIGGRAPH, page 349-358. ACM, (1991)Legged Robots.. Commun. ACM, 29 (6): 499-514 (1986)General systems group report., , and . Robotics and Autonomous Systems, 18 (1-2): 95-99 (1996)Animated Robots and Robotic Animation.. ICRA, page 3163. IEEE Computer Society, (1995)Running With Symmetry.. Autonomous Robot Vehicles, Springer, (1990)Adjusting step length for rough terrain locomotion., and . IEEE Trans. Robotics and Automation, 7 (3): 289-298 (1991)An all digital VLSI tactile array sensor.. ICRA, page 314-319. IEEE, (1984)