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. 2017 Jun 27;17(7):1514. doi: 10.3390/s17071514

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© 2017 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 (http://creativecommons.org/licenses/by/4.0/).

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Vertical component of the foot-end force and the joint trajectory of the crawling process: (a) Vertical component of the foot-end force of leg L1 during the posture adjustment; (b) Vertical component of the foot-end force of leg L1 during the entire crawling process; (c) Joint trajectory of leg L1 during the posture adjustment and the first gait cycle; (d) Vertical component of the foot-end force of leg L3 during the posture adjustment; (e) Vertical component of the foot-end force of leg L1 during the entire crawling process; (f) Joint trajectory of leg L3 during the posture adjustment and the first gait cycle.