Modelling and Trajectory Planning for a Four Legged Walking Robot with High Payload. - Lorenzo Gagliardini; Xinghua Tian; Feng Gao 011; Chenkun Qi; Christine Chevallereau; Xianchao Zhao (ICSR, 2012)

A quadruped robot with parallel mechanism legs. - Feng Gao 011; Chenkun Qi; Qiao Sun; Xianbao Chen; Xinghua Tian (ICRA, 2014)