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Horchler, A., Kandhari, A., Daltorio, K. A., Moses, K. A., Ryan, J. A., Stultz, K. A., Kanu, E. A., Andersen, K. A., Kershaw, J. A., Bachmann, R. A., & Others, R. A.(2015).Peristaltic locomotion of a modular mesh-based worm robot: precision, compliance, and friction.Soft Robotics,2(4),135--145.
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