A. Raheem, Firas, and Murtadha Khudhair Flayyih. 2017. “Comparative Study Between Classical and Optimized Stability Margins of Quadruped Robot Creeping Gait”. American Scientific Research Journal for Engineering, Technology, and Sciences 38 (1):17-32. https://asrjetsjournal.org/index.php/American_Scientific_Journal/article/view/3571.