Genya Ishigami Keiji Nagatani Kazuya Yoshida Slope traversal experiments with slip compensation control for lunar/planetary exploration rover. 2295-2300 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543556 conf/icra/2008 db/conf/icra/icra2008.html#IshigamiNY08