Hyun Do Choi Chun Kyu Woo Soo-Hyun Kim Yoon Keun Kwak Sukjune Yoon Independent traction control for uneven terrain using stick-slip phenomenon: application to a stair climbing robot. 3-18 2007 23 Auton. Robots 1 http://dx.doi.org/10.1007/s10514-007-9027-x db/journals/arobots/arobots23.html#ChoiWKKY07