@ARTICLE{li2026stable,
  author={Congfei Li and Shuyue Lin and Shenwei Qu and Zhuoyuan Liu and Qingjun Yang and Max Q.-H. Meng and Yuxiang Sun},
  journal={IEEE Robotics and Automation Letters}, 
  title={Stable Trajectory Planning for Quadruped Robots Using Terrain Features at Feet End}, 
  year={2026},
  volume={11},
  number={2},
  pages={2266-2273},
  doi={10.1109/LRA.2025.3645657}}