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   _____   __   __    _____      ___      ______  
  / ___//  \ \\/ //  /  ___||   / _ \\   /_   _// 
  \___ \\   \ ` //  | // __    | / \ ||  `-| |,-  
  /    //    | ||   | \\_\ ||  | \_/ ||    | ||   
 /____//     |_||    \____//    \___//     |_||   
`-----`      `-`'     `---`     `---`      `-`'

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Text this: Robot gait synthesis using the scheme of human motions skills development