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ARMS #32 QD Bipod adaptor Harris BRM-S BipodPod-Loc Handle on the adjustment knob. There are some new handles on the market which are very promising. There are some other decent bipods but most are too bulky and poorly engineered for my taste. 6"-9" is all that is necessary, even with 30rd mags. The picture below is 6" without the legs even extended to 9". 
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