Moving over challenging terrain requires a change of gait.
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References
Li, C., Umbanhowar, P. B., Komsuoglu, H., Koditschek, D. E. & Goldman, D. I. Proc. Natl Acad. Sci. USA Advanced online publication doi:10.1073/pnas.0809095106 (2009).
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Ball, P. Robot copes with shifting sands. Nature (2009). https://doi.org/10.1038/news.2009.84
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DOI: https://doi.org/10.1038/news.2009.84