Finale Doshi Emma Brunskill Alexander C. Shkolnik Thomas Kollar Khashayar Rohanimanesh Russ Tedrake Nicholas Roy Collision detection in legged locomotion using supervised learning. 317-322 2007 IROS http://dx.doi.org/10.1109/IROS.2007.4399538 conf/iros/2007 db/conf/iros/iros2007.html#DoshiBSKRTR07