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Orlin Wagner, Associated Press
Missouri guard Michael Dixon battles for the ball between the legs of Kansas guard Tyshawn Taylor during the first half of an NCAA college basketball game in Lawrence, Kan., Saturday, Feb. 25, 2012.

LAWRENCE, Kan. — Kansas and Missouri kept their storied rivalry alive just a little bit longer.

Tyshawn Taylor and Thomas Robinson made it a memorable ending for Kansas.

Robinson kept the game going with a three-point play in the closing seconds of regulation, and Taylor's two free throws with 8.3 seconds left in overtime gave the fourth-ranked Jayhawks an 87-86 victory over No. 3 Missouri on Saturday in their final scheduled regular-season matchup.

The Tigers, who blew a 19-point second-half lead, never got a potential winning shot off in the closing seconds. They will head off to the Southeastern Conference next season with a bitter taste in their mouths.

Robinson finished with 28 points and 12 rebounds for Kansas (24-5, 14-2), which wrapped up at least a share of its eighth straight Big 12 title. Taylor added 24 points, seven in overtime.

Marcus Denmon led Missouri (25-4, 12-4) with 28 points. Ricardo Ratliffe finished with 22.