Tin Lun Lam Yangsheng Xu Tree Climbing Robot - Design, Kinematics and Motion Planning 78 2012 1-143 Springer Springer Tracts in Advanced Robotics http://dx.doi.org/10.1007/978-3-642-28311-6 978-3-642-28310-9 db/series/star/index.html#LamX12