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Original version of the author's contribution as presented on CD, page 3169, code TS.FS04-1.02 .:
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Why we need more degrees of freedom (INVITED)
Revzen, Shai
The mechanical systems encountered in biology have many degrees of freedom (DOF). Even the relatively rigid arthropods and crustaceans have at least 5 DOF in each limb; t [...]
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