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Comparing Impact Equations for Conservation of Angular Momentum to Perfectly \
Plastic Impacts: Application to a 2-D Point-footed Walker.\
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Robert D. Gregg
rdgregg@eecs.berkeley.edu
Aaron D. Ames
adames@eecs.berkeley.edu
Center for Hybrid and Embedded Software Systems
Electrical Engineering and Computer Sciences
University of California, Berkeley\
\>", "Subsubtitle"],

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