Tarokh, Mahmoud, and Malrey Lee. “Systematic Method for Kinematics Modeling of Legged Robots on Uneven Terrain ”. International Journal of Control and Automation 2, no. 2 (December 31, 2009): 09 - 18. Accessed June 30, 2024. http://sersc.org/journals/index.php/IJCA/article/view/162.