Kenji Kamikawa Tatsuo Arai Kenji Inoue Yasushi Mae Omni-directional Gait of Multi-legged Rescue Robot. 2171-2176 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1307384 db/conf/icra/icra2004-3.html#KamikawaAIM04