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2003
V. Hugel, Blazevic, P., Stasse, O., and Bonnin, P., โ€œTrot Gait Design Details for Quadrupedsโ€, in RoboCup 2003: Robot Soccer World Cup VII 2003,, vol. LNAI 3020, Springer-Verlag, 2003, pp. 495โ€“502.