[IEEE 2016 International Conference "Stability and Oscillations of Nonlinear Control Systems" (Pyatnitskiy's Conference) (STAB) - Moscow, Russia (2016.6.1-2016.6.3)] 2016 International Conference Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) - Dynamics and control of motion of a capsule robot with an opposing spring

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