@article{ordonez_gupta_collins_clark_johnson_2012, title={Power Modeling Of The Xrl Hexapedal Robot And Its Application To Energy Efficient Motion Planning}, DOI={10.1142/9789814415958_0088}, journal={Adaptive Mobile Robotics}, author={Ordonez, Camilo and Gupta, Nikhil and Collins, Emmanuel G. and Clark, Jonathan E. and Johnson, Aaron M.}, year={2012}, pages={689–696}}