Legged locomotion over irregular terrains: state of the art of human and robot performance - Torres-Pardo, Adriana; Pinto-Fernandez, David; Garabini, Manolo; Angelini, Franco; Rodriguez-Cianca, David; Massardi, Stefano; Tornero, Jesus; Moreno, Juan C; Torricelli, Diego (Bioinspiration & Biomimetics, 2022)