ARTICLE Focchi_AURO_2016/IDIAP High-slope terrain locomotion for torque-controlled quadruped robots Focchi, Michele del Prete, Andrea Havoutis, I. Featherstone, Roy Caldwell, D. G. Semini, Claudio Autonomous Robots 2016 http://link.springer.com/article/10.1007%2Fs10514-016-9573-1 URL 10.1007/s10514-016-9573-1 doi