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Chalcone synthase (CHS) is pivotal for the biosynthesis of flavonoid antimicrobial phytoalexins and anthocyanin pigments in plants. It produces chalcone by condensing one p-coumaroyl- and three ...

Abstract: This letter proposes an envelop-climbing locomotion planning for vertical obstacles by concave polyhedron construction in order to achieve high terrain adaptability of polyhedron robots.

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