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Optimal Design of Body Profile for Stable Stair Climbing Vi..:

Kim, Younghwan ; Son, Donghan ; Shin, Jeongpil.
International Journal of Precision Engineering and Manufacturing.  24 (2023)  12 - p. 2291-2302 , 2023
Link: https://doi.org/10.1007/s12541-023-00887-4