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Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion. - Yu Sun 041; Wyatt Ubellacker; Wen-Loong Ma; Xiang Zhang 020; Changhao Wang; Noel Csomay-Shanklin; Masayoshi Tomizuka; Koushil Sreenath; Aaron D. Ames (IEEE Robotics Autom. Lett., 2021)