Michael J. Quinlan, Craig L. Murch, Richard H. Middleton, Stephan K. Chalup. Traction Monitoring for Collision Detection with Legged Robots. In Daniel Polani, Brett Browning, Andrea Bonarini, Kazuo Yoshida, editors, RoboCup 2003: Robot Soccer World Cup VII. Volume 3020 of Lecture Notes in Computer Science, pages 374-384, Springer, 2003. [doi]
Abstract is missing.