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Whole body kinematic and dynamic modeling for quadruped robot Very well made.
Figure 1 from Mechanical design of a compact and dexterous Very well made.
a An example quadruped design with link lengths L2 L3 and L4 Very well made.
Instructions DIY hobby servos quadruped robot Hackaday.io Very well made.
Comparing the effect of different spine and leg designs for a Very well made.