Stable Placements for Spider Robots. - Jean-Daniel Boissonnat; Olivier Devillers; LeonBattista Donati; Franco P. Preparata (SCG, 1992)

Motion planning for spider robots. - Jean-Daniel Boissonnat; Olivier Devillers; LeonBattista Donati; Franco P. Preparata (ICRA, 1992)

Motion planning of legged robots: the spider robot problem. - Jean-Daniel Boissonnat; Olivier Devillers; LeonBattista Donati; Franco P. Preparata (Int. J. Comput. Geom. Appl., 1995)