@article{gsk3zr,
 author = {Yeomans, Brian and Saaj, Chakravarthini M. and Van Winnendael, Michel},
 doi = {10.1016/j.jterra.2013.01.006},
 issn = {0022-4898},
 journal = {Journal of Terramechanics},
 link = {https://doi.org/10.1016/j.jterra.2013.01.006},
 month = {April},
 number = {2},
 pages = {107–120},
 publisher = {Elsevier BV},
 title = {Walking planetary rovers – Experimental analysis and modelling of leg thrust in loose granular soils},
 url = {http://dx.doi.org/10.1016/j.jterra.2013.01.006},
 volume = {50},
 year = {2013}
}

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