@article{peng_liang_haibo_ruyi_nan_zongquan_2020, title={Environmental Characterization and Path Planning for Legged Robots Considering Foot-terrain Interaction}, volume={56}, DOI={10.3901/jme.2020.23.021}, number={23}, publisher={Chinese Journal of Mechanical Engineering}, author={Peng, XU and Liang, DING and Haibo, GAO and Ruyi, ZHOU and Nan, LI and Zongquan, DENG}, year={2020} }