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  author =		 "Kalakrishnan, M. and Buchli, J. and Pastor, P. and Mistry, M. and Schaal, S.",
  year =		 "2010",
  title =		 "Fast, robust quadruped locomotion over challenging terrain",
  booktitle =		 "Robotics and Automation (ICRA), 2010 IEEE International Conference on",
  key =			 "best paper finalist, force control learning systems legged locomotion optimisation path planning stability criteria body trajectory optimizer challenging terrain control architecture control strategy fast robust quadruped locomotion floating-ba",
  URL =			 "",
  pages =		 "2665-2670",
  ISBN/ISSN =		 "1050-4729",
  crossref =		 "p10419"

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