MECANT I: a six legged walking machine for research purposes in outdoor environment. - Kari K. Hartikainen; Aarne Halme; Hannu Lehtinen; Kari Koskinen (ICRA, 1992)

Control And Software Structures Of A Hydraulic Six-legged Machine Designed For Locomotion In Natural Environment. - Kari K. Hartikainen; Hannu Lehtinen; Aarne Halme; Kari Koskinen (IROS, 1992)