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| |  | || | || | || |      \\   / _ \\  | || | || 
| |/\| || | || | || |  --  //  | / \ || | '--' || 
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|_// \_||  \____//  |______//   \___//  |_|| |_|| 
`-`   `-`   `---`   `------`    `---`   `-`  `-`

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Text this: Standing posture modeling and control for a humanoid robot