WASIK, Marek. Leg’s Tip-Ground Contact Detection Based on Drive Currents in a Real Walking Robot. Journal of Automation, Mobile Robotics and Intelligent Systems, [S. l.], v. 9, n. 1, p. 62–67, 2014. DOI: 10.14313/JAMRIS_1-2015/8. Disponível em: https://www.jamris.org/index.php/JAMRIS/article/view/342. Acesso em: 13 feb. 2025.