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Design and Development of a Versatile Quadruped Climbing Ro..:

Li, Zhengyang ; Li, Zhenjing ; Tam, Lap Mou.
IEEE/ASME Transactions on Mechatronics.  28 (2023)  3 - p. 1649-1661 , 2023
Link: https://doi.org/10.1109/tmech.2022.3221819