Optimal Posture Control for Force Actuator Based Articulated Suspension Vehicle for Rough Terrain Mobility by Vijay E, Srikanth Kolachalama, Madhava Krishna in CLAWAR-2008 (Conference on Climbing and Walking Robots) Report No: IIIT/TR/2008/185 Centre for Robotics International Institute of Information Technology Hyderabad - 500 032, INDIA September 2008