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H. Luo, Li, M., Liang, G., Qian, H., and Lam, T. Lun, “An Obstacle-crossing Strategy Based on the Fast Self-reconfiguration for Modular Sphere Robots”, in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 3296–3303.