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 | \| ||  \ \\/ //  /_____//  /_   _// | || | || 
 |  ' ||   \ ` //   `____ `    -| ||-  | '--' || 
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 `-` -`     `-`'    /_//      `-----`  `-`  `-`  
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Text this: Robot gait synthesis using the scheme of human motions skills development