# Gait Planning for a Free-Climbing Robot Based on Tumble Stability

> Research article (2019 IEEE/SICE International Symposium on System Integration (SII), 2019) · cited 16× · AI/ML

**Wikidata**: [openalex:W2942742441](https://www.wikidata.org/wiki/openalex:W2942742441)  
**Source**: https://4ort.xyz/entity/gait-planning-for-a-free-climbing-robot-based-on-tumble-stability