Brian K. Taylor Stephen Balakirsky Elena Messina Roger D. Quinn Analysis and benchmarking of a Whegs<sup>TM</sup> robot in USARSim. 3896-3901 2008 IROS http://dx.doi.org/10.1109/IROS.2008.4651058 conf/iros/2008 db/conf/iros/iros2008.html#TaylorBMQ08