Three-Dimensional Posture Optimization for Biped Robot Stepping over Large Ditch Based on a Ducted-Fan Propulsion System. - Zhifeng Huang; Zijun Wang; Jiapeng Wei; Jingtao Yu; Yuhao Zhou; Pihao Lao; Xiaoliang Huang; Xuexi Zhang; Yun Zhang 001 (IROS, 2020)