@article{chen2015caterpillar,
  title={Caterpillar-like climbing method incorporating a dual-mode optimal controller},
  author={Chen, Jian and Li, Guoyuan and Zhang, Jianwei and Yu, Junzhi},
  journal={IEEE Transactions on Automation Science and Engineering},
  volume={12},
  number={4},
  pages={1492--1503},
  year={2015},
  publisher={IEEE}
}