@inproceedings{Pongas_ICRA_2007,
  title = {A robust quadruped walking gait for traversing rough terrain},
  booktitle = {International Conference on Robotics and Automation (ICRA2007)},
  abstract = {Legged locomotion excels when terrains become
  too rough for wheeled systems or open-loop walking pattern
  generators to succeed, i.e., when accurate foot placement is of
  primary importance in successfully reaching the task goal. In
  this paper we address the scenario where the rough terrain is
  traversed with a static walking gait, and where for every foot
  placement of a leg, the location of the foot placement was selected
  irregularly by a planning algorithm. Our goal is to adjust
  a smooth walking pattern generator with the selection of
  every foot placement such that the COG of the robot follows a
  stable trajectory characterized by a stability margin relative to
  the current support triangle. We propose a novel parameterization
  of the COG trajectory based on the current position,
  velocity, and acceleration of the four legs of the robot. This
  COG trajectory has guaranteed continuous velocity and acceleration
  profiles, which leads to continuous velocity and acceleration
  profiles of the leg movement, which is ideally suited for
  advanced model-based controllers. Pitch, yaw, and ground
  clearance of the robot are easily adjusted automatically under
  any terrain situation. We evaluate our gait generation technique
  on the Little-Dog quadruped robot when traversing
  complex rocky and sloped terrains.},
  pages = {1474-1479},
  address = {Rome, April 10-14, 2007},
  year = {2007},
  note = {clmc},
  slug = {pongas_icra_2007},
  author = {Pongas, D. and Mistry, M. and Schaal, S.},
  crossref = {p2668},
  url = {http://www-clmc.usc.edu/publications/P/pongas-ICRA2007.pdf}
}