Trajectory planning and four-leg coordination for stair climbing in a quadruped robot. - Chih-Chung Ko; Shen-Chiang Chen; Cheng-Hsin Li; Pei-Chun Lin (IROS, 2010)

Trajectory planning for stair climbing in the leg-wheel hybrid mobile robot quattroped. - Shen-Chiang Chen; Ke Jung Huang; Cheng-Hsin Li; Pei-Chun Lin (ICRA, 2011)

Experimental validation of a leg-wheel hybrid mobile robot Quattroped. - Ke Jung Huang; Shen-Chiang Chen; Ya Cheng Chou; Shuan-Yu Shen; Cheng-Hsin Li; Pei-Chun Lin (ICRA, 2011)