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Ugurlu B, Saglia JA, Tsagarakis NG, Caldwell DG. Hopping at the Resonance Frequency: A Trajectory Generation Technique for Bipedal Robots with Elastic Joints. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation (ICRA). St. Paul, Minnesota; 2012.
Ugurlu B, Tsagarakis NG, Spyrakos-Papastavridis E, Caldwell DG. Compliant Joint Modification and Real-Time Dynamic Walking Implementation on Bipedal Robot cCub. In: IEEE International Conference on Mechatronics. IEEE International Conference on Mechatronics. ; 2011.

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