Foot trajectory for a quadruped walking machine. - Yoshihiro Sakakibara; Kazutoshi Kan; Yuuji Hosoda; Makoto Hattori; Masakatsu G. Fujie (IROS, 1990)

Low-impact foot trajectory for a quadruped walking machine. - Yoshihiro Sakakibara; Kazutoshi Kan; Yuuji Hosoda; Makoto Hattori; Masakatsu G. Fujie (Adv. Robotics, 1992)