Terrain-evaluation-based motion planning for legged locomotion on irregular terrain

@article{Low2003TerrainevaluationbasedMP,
  title={Terrain-evaluation-based motion planning for legged locomotion on irregular terrain},
  author={H. K. Low and Shaoping Bai},
  journal={Advanced Robotics},
  year={2003},
  volume={17},
  pages={761-778}
}