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Hemami, H.; Zheng, Yuan-Fang; Hines, M. J. Initiation of walk and tiptoe of a planar nine-link biped. (English) Zbl 0495.73091 Math. Biosci. 61, 163-189 (1982). MSC: 74L15 70B15 65C20 PDFBibTeX XMLCite \textit{H. Hemami} et al., Math. Biosci. 61, 163--189 (1982; Zbl 0495.73091) Full Text: DOI