Development of Active Lower Limb Robotic-Based Orthosis and
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![Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies [PeerJ]](https://dfzljdn9uc3pi.cloudfront.net/2021/cs-821/1/fig-1-full.png)
Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies [PeerJ]
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