H. A., A., A. Z. . Ahmad Mazlan, A. F. . Hawary, and N. H. . Hadi. “Foot-Ground Contact Modelling of Quadruped Robot”. Journal of Advanced Research Design, vol. 145, no. 1, Oct. 2025, pp. 165-74, https://akademiabaru.com/submit/index.php/ard/article/view/6355.