Linqi Ye Yaqi Wang Xueqian Wang 0001 Houde Liu Bin Liang 0001 Optimized Static Gait for Quadruped Robots Walking on Stairs. 921-927 2021 CASE https://doi.org/10.1109/CASE49439.2021.9551433 conf/case/2021 db/conf/case/case2021.html#YeWWLL21