Mario Arbulú Kazuhito Yokoi Abderrahmane Kheddar Carlos Balaguer Dynamic acyclic motion from a planar contact-stance to another. 3440-3445 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4650978 conf/iros/2008 db/conf/iros/iros2008.html#ArbuluYKB08