Torque Distribution in a Six-Legged Robot.

Mustafa Suphi Erden Kemal Leblebicioglu Torque Distribution in a Six-Legged Robot. 179-186 2007 23 IEEE Transactions on Robotics 1 http://dx.doi.org/10.1109/TRO.2006.886276 db/journals/trob/trob23.html#ErdenL07