Analysis of Omnidirectional Gaits for Walking Machines for Operation on Uneven Terrain,

V. Kumar and K. J. Waldron, “Analysis of Omnidirectional Gaits for Walking Machines for Operation on Uneven Terrain,” in Proceedings of the 7th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, Italy, 1988, pp. 37-62.

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