Trajectory planning and four-leg coordination for stair climbing in a quadruped robot.

Chih-Chung Ko Shen-Chiang Chen Cheng-Hsin Li Pei-Chun Lin Trajectory planning and four-leg coordination for stair climbing in a quadruped robot. 5335-5340 2010 IROS http://dx.doi.org/10.1109/IROS.2010.5650176 conf/iros/2010 db/conf/iros/iros2010.html#KoCLL10