@article{miller_ordonez_clark_2013, title={Examining the Effect of Rear Leg Specialization on Dynamic Climbing with SCARAB: A Dynamic Quadrupedal Robot for Locomotion on Vertical and Horizontal Surfaces}, DOI={10.1007/978-3-319-00065-7_9}, journal={Experimental Robotics Springer Tracts in Advanced Robotics}, author={Miller, Bruce and Ordonez, Camilo and Clark, Jonathan E.}, year={2013}, pages={113–126}}