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             ___     _    _     ______   _____    
    ___     / _ \\  | || | ||  /_   _// |  __ \\  
   /   ||  / //\ \\ | || | ||   -| ||-  | |  \ || 
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    -|_|| `-`   `-`   `---`    `-----`   -----`   
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Text this: Modeling and Control for Efficient Bipedal Walking Robots