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Spröwitz A, Tuleu A, Ajaoolleian M, Vespignani M, Moeckel R, Eckert P, D'Haene M, Degrave J, Nordmann A, Schrauwen B et al..  2018.  Oncilla robot: a versatile open-source quadruped research robot with compliant pantograph legs. Frontiers in Robotics and AI, section Bionics and Biomimetics.