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"Takahiro Doi,Ryuichi Hodoshima,Yasishi Fukuda,Shigeo Hirose,Toshihito Okamoto","Development of Quadruped Walking Robot TITAN XI for Steep Slopes - Slope Map Generation and Map Information Application -",,"Journal of Robotics and Mechatronics",,"Vol. 18","No. 3","pp. 318-324",2006,June