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. 2024 Oct 17;9(10):633. doi: 10.3390/biomimetics9100633

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© 2024 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).

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Input values of the front and rear curved-spoke legs for stair climbing at $(J_{x}^{'}, J_{y}^{'}) = (0.1, 0.1)$ and $L = 0.58 = 2 \sqrt{H^{2} + W^{2}}$ : (a) the spoke angle, (b) spoke speed, and (c) spoke torque.