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Robustes Laufen: Biomechanische Grundlagenforschung für Biologie, Robotik und Sport, , , , and . Biomechanik als Anwendungsforschung -- Transfer zwischen Theorie und Praxis, 132, page 24-34. Hamburg, Deutsche Vereinigung für Sportwissenschaft (dvs), Czwalina, (2004)Robust behaviour of the human leg, , , , , and . Adaptive Motion of Animals and Machines, Springer, New York, (2006)