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Continue to ChatAnalysis and control of a running spring-mass model with an upright trunk based on virtual pendulum concept - https://avesis.metu.edu.tr/advisingtheses/details/4fd0c20f-969d-4b48-bac0-07c886c38359/analysis-and-control-of-a-running-spring-mass-model-with-an-upright-trunk-based-on-virtual-pendulum-concept