Foot-terrain interaction mechanics for legged robots: Modeling and experimental validation

Liang Ding, Haibo Gao, Zongquan Deng, Jianhu Song, Yiqun Liu, Guangjun Liu, Karl Iagnemma. Foot-terrain interaction mechanics for legged robots: Modeling and experimental validation. I. J. Robotic Res., 32(13):1585-1606, 2013. [doi]

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