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    <h1><a href="underactuated.html" style="text-decoration:none;">Underactuated Robotics</a></h1>
    <p data-type="subtitle">Algorithms for Walking, Running, Swimming, Flying, and Manipulation</p> 
    <p style="font-size: 18px;"><a href="http://people.csail.mit.edu/russt/">Russ Tedrake</a></p>
    <p style="font-size: 14px; text-align: right;"> 
      &copy; Russ Tedrake, 2021<br/>
      <a href="tocite.html">How to cite these notes</a><br/>
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<p><b>Note:</b> These are working notes used for <a
href="https://underactuated.csail.mit.edu/Spring2021/">a course being taught
at MIT</a>. They will be updated throughout the Spring 2021 semester.  <a 
href="https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg">Lecture  videos are available on YouTube</a>.</p> 

<chapter><h1>Soft Robots</h1>


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