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A spinal circuit model with an asymmetric cervical-lumbar layout for limb coordination and gait control in quadrupeds
Qinghua ZHU, Fang HAN, Qingyun WANG
Applied Mathematics and Mechanics (English Edition) . 2025, (8): 1433 -1450 .  DOI: 10.1007/s10483-025-3282-9

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