For citations:

Briskin E.S., Kalinin Ya.V., Artemyev K.S. On the Stability of the Plane Movement of Mobile Robots with Walking Propulsion Devices Working in "Pulling" Mode. Mekhatronika, Avtomatizatsiya, Upravlenie. 2021;22(1):28-34. (In Russ.) https://doi.org/10.17587/mau.22.28-34