Solving the Optimal Force Distribution Problem in Multilegged Vehicles. - Jeng-Shi Chen; Fan-Tien Cheng; Kai-Tarng Yang; Fan-Chu Kung; York-Yin Sun (ICRA, 1998)

Optimal force distribution in multilegged vehicles. - Jeng-Shi Chen; Fan-Tien Cheng; Kai-Tarng Yang; Fan-Chu Kung; York-Yih Sun (Robotica, 1999)