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![PDF] Force Sensing for Multi-legged Walking Robots: Theory and Experiments - Part 1: Overview and Force Sensing | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/736d3bb69def2eae9530e3bd2d17b0038408ac0c/14-Figure2.13-1.png "PDF] Force Sensing for Multi-legged Walking Robots: Theory and Experiments - Part 1: Overview and Force Sensing | Semantic Scholar")
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Legged robot - Wikipedia
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