Gait Design and Foot Trajectory Planning for a Wall-Climbing Robot with Spiny Toes. - Shuyuan Shi; Shengchang Fang; Xuan Wu 001; Xiaojie Wang 004 (ICIRA (3), 2021)

Design of a Quadruped Wall-Climbing Robot (WCR) with a Three-Row Opposed Gripping Mechanism. - Shengchang Fang; Chao Xie; Xuan Wu 001; Xiaojie Wang 004 (RCAR, 2021)

A walking and climbing quadruped robot capable of ground-wall transition: design, mobility analysis and gait planning. - Shengchang Fang; Shuyuan Shi; Xuan Wu 001; Xiaojie Wang 004 (Intell. Serv. Robotics, 2023)