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Journal of Bionic Engineering  2018, Vol. 15 Issue (2): 341-355    DOI: https://doi.org/10.1007/s42235-018-0026-8
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Multi-Layered CPG for Adaptive Walking of Quadruped Robots
Chengju Liu*, Li Xia, Changzhu Zhang, Qijun Chen#br#
School of Electronics and Information Engineering, Tongji University, Shanghai 201804, China