Design of a phase-shifting double-wheg-module for quadruped robots

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Fremerey, M., Köhring, S., Nassar, O., Schöne, M., Weinmeister, K., Becker, F., Đorđević, G., Witte, H., 2014. Design of a phase-shifting double-wheg-module for quadruped robots. Shaping the Future by Engineering.
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