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Dynamic Nominals and Control Synthesis for Artificial Antropomorphic Walk Producing Mechanisms 1989 http://ezaposleni.singidunum.ac.rs/rest/sciNaucniRezultati/oai/record/2/5708 M. Vukobratović D. Surla Z. Konjović B. Borovac article 15 3 21 30 0020-7721 INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE