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@@ -131,7 +131,7 @@ Define a new input and a new output:
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u\_1 = J^T f\_m, \quad y = J^{-1} (l - l\_r)
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\end{equation}
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Equation \ref{eq:hexapod\_eq\_motion} can be rewritten as:
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Equation \eqref{eq:hexapod\_eq\_motion} can be rewritten as:
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\begin{equation} \label{eq:hexapod\_eq\_motion\_decoup\_1}
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\begin{split}
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