Optimization of modularity during development to simplify walking control across multiple steps oleh Elodie Hinnekens, Elodie Hinnekens, Bastien Berret, Bastien Berret, Estelle Morard, Estelle Morard, Manh-Cuong Do, Manh-Cuong Do, Marianne Barbu-Roth, Caroline Teulier, Caroline Teulier