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@ARTICLE{,
    author = {Saranli, U. and Arslan, O. and Ankarali, M.M. and Morgul, O.},
     title = {Approximate Analytic Solutions to Non-symmetric Stance Trajectories of the Passive Spring-Loaded Inverted Pendulum with Damping},
   journal = {Nonlinear Dynamics},
    volume = {62},
      year = {2010},
     pages = {729-731}
}