Harmati, István, and Bálint Kiss. “Motion Planning Algorithms for Stratified Kinematic Systems With Application to the Hexapod Robot”. Acta Cybernetica 15, no. 2 (January 1, 2001): 225-240. Accessed December 22, 2024. https://cyber.bibl.u-szeged.hu/index.php/actcybern/article/view/3576.