@article{Nakanishi_ITRA_2000,
  author =		 "Nakanishi, J. and Fukuda, T. and Koditschek, D. E.",
  year =			 "2000",
  title =			 "a brachiating robot controller",
  booktitle =		 "ieee transactions on robotics and automation",
  key =			 "dynamic systems, nonlinear robot control, brachiation, dynamically dexterous robotics, limit cycles, locomotion, swing map, symmetry, target dynamics, task encoding, underactuated system.",
  URL =			 "http://www-clmc.usc.edu/publications/N/nakanishi-TRA2000.pdf",
  number =		 "2",
  pages =		 "109-123",
  crossref =		 "p1802"
}

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