Jonathan W. HurstBenjamin Morris 0001Joel E. ChestnuttAlfred A. RizziA Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running.1455-14602007conf/icra/2007ICRAhttps://doi.org/10.1109/ROBOT.2007.363189db/conf/icra/icra2007.html#HurstMCR07