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. 2016 Dec 7;3(12):160766. doi: 10.1098/rsos.160766

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© 2016 The Authors.

Published by the Royal Society under the terms of the Creative Commons Attribution License http://creativecommons.org/licenses/by/4.0/, which permits unrestricted use, provided the original author and source are credited.

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Figure 7. — (a) Cumulative distance travelled of the crawling robot and inching robot. Time evolution of phase difference in the crawling robot (b) and inching robot (c). Comparing data with the simulations is shown as θ₁ − θ₀.