"Liangwen Wang,Xuedong Chen,Qingjiu Huang,Xinjie Wang,Ping Guo","Error Analysis of Multi-legged Walking Robots Based on Forward Kinematics","2007 IEEE International Conference on Robotics and Biomimetics","Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics","IEEE on Robotics and Automation",,,"pp. 1172-1177",2007,Dec.