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MR2205757 92C10
Ruina, Andy; Bertram, John E. A.; Srinivasan, Manoj A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition. J. Theoret. Biol. 237 (2005), no. 2, 170–192.
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