Enric Celaya, Josep M. Porta. A control structure for the locomotion of a legged robot on difficult terrain. IEEE Robot. Automat. Mag., 5(2):43-51, 1998. [doi]
@article{CelayaP98,
title = {A control structure for the locomotion of a legged robot on difficult terrain},
author = {Enric Celaya and Josep M. Porta},
year = {1998},
doi = {10.1109/100.692340},
url = {http://dx.doi.org/10.1109/100.692340},
researchr = {https://researchr.org/publication/CelayaP98},
cites = {0},
citedby = {0},
journal = {IEEE Robot. Automat. Mag.},
volume = {5},
number = {2},
pages = {43-51},
}