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![[PDF] Transition from quadrupedal to bipedal locomotion | Semantic Scholar](/images/search?view=detailV2&id=8D3478E616A691E7C7AA41555945DF4E45611B62&thid=OIP.KLQtYVUwy-7d3EQMtBfCygHaEY&mediaurl=https%3a%2f%2fd3i71xaburhd42.cloudfront.net%2ff8eb287c6b3117a407a629c4a4b15d8b061c8b54%2f2-Figure1-1.png&exph=566&expw=958&q=bipedal+locomotion+simulation&simid=608048545502406928&ck=EF8E1BE2974DD56B4F77A2D1370B09A2&itb=0&FORM=IVCLIG)
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