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. Author manuscript; available in PMC: 2018 Dec 1.
Published in final edited form as: IEEE Trans Robot. 2017 Jul 27;33(6):1386–1397. doi: 10.1109/TRO.2017.2719035

Fig. 13.

Fig. 13

Step input tracking in the x-direction for: (a) base segment, (b) middle segment and (c) end segment of MINIR-II; (d) Step input tracking of end segment in x- and z-directions