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| |  | ||  \ \\/ //  /_____//   / _ \\   /  ___|| 
| |/\| ||   \ ` //   `____ `   | / \ || | // __   
|  /\  ||    | ||    /___//    | \_/ || | \\_\ || 
|_// \_||    |_||    `__ `      \___//   \____//  
`-`   `-`    `-`'    /_//       `---`     `---`   
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Text this: Flexible control architecture for mobile robots: an application for a walking robot