@ARTICLE{BAZISR14, author={Bazeille, S. and Barasuol, V. and Focchi, M. and Havoutis, I. and Frigerio, M. and Buchli, J. and Caldwell, D. G. and Semini, C.}, year={2014}, journal={Intelligent Service Robotics}, volume={7}, title={Quadruped robot trotting over irregular terrain assisted by stereo-vision}, pages={67-77}, }