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Yoshihiro Sakakibara, Kazutoshi Kan, Yuuji Hosoda, Makoto Hattori, Masakatsu G. Fujie. Foot trajectory for a quadruped walking machine. In IEEE International Workshop on Intelligent Robots and Systems '90, Towards a New Frontier of Applications, Proceedings. IROS 1990, July 3-6, 1990, Ibaraki, Japan. pages 315-322, IEEE, 1990. [doi]

The following publications are possibly variants of this publication:

Low-impact foot trajectory for a quadruped walking machineYoshihiro Sakakibara, Kazutoshi Kan, Yuuji Hosoda, Makoto Hattori, Masakatsu G. Fujie. ar, 7(4):343-360, 1992. [doi]

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