@article{waldron2009adaptive, title = {Adaptive compliance control of a multi-legged stair-climbing robot based on proprioceptive data}, author = {Waldron, Kenneth J and Eich, Markus and Grimminger, Felix and Kirchner, Frank}, journal = {Industrial Robot: An International Journal}, volume = {36}, pages = {331-339}, publisher = {Emerald Group Publishing Limited}, month = jun, year = {2009}, doi = {10.1108/01439910910957084}, month_numeric = {6} }