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T. Otani, T. George, K. Uryu, M. Yahara, A. Iizuka, S. Hamamoto, S. Miyamae, K. Hashimoto, M. Destephe, M. Sakaguchi, Y. Kawakami, H. ok Lim, and A. Takanishi. Humanoids, page 481-486. IEEE, (2014)
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