Optimal gait selection for nonholonomic locomotion systems

Jim Ostrowski, Jaydev P. Desai, Vijay Kumar. Optimal gait selection for nonholonomic locomotion systems. In Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, April 20-25, 1997. pages 786-791, IEEE, 1997. [doi]

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