Analysis and optimization of obstacle clearance of articulated rovers. - Faïz Ben Amar; Pierre Jarrault; Philippe Bidaud; Christophe Grand (IROS, 2009)

Robust obstacle crossing of a wheel-legged mobile robot using minimax force distribution and self-reconfiguration. - Pierre Jarrault; Christophe Grand; Philippe Bidaud (IROS, 2011)

Experimental Evaluation of Obstacle Clearance by a Hybrid Wheel-Legged Robot. - Christophe Grand; Pierre Jarrault; Faïz Ben Amar; Philippe Bidaud (ISER, 2014)