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Energy-saving Strategy of the Spinal Joint Quadruped Robot in Trot Gait Based on Hybrid Force-position Control
Guozheng Song, Yinqi Pang, Qinglin Ai, Xiaohang Shan, Jianguo Yang
Journal of Bionic Engineering . 2026, (
3
): 1380 -1397 . DOI: 10.1007/s42235-026-00893-y
