Sergio A. Esteban, Max H. Cohen, Adrian B. Ghansah, Aaron D. Ames. A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics. In 64th IEEE Conference on Decision and Control, CDC 2025, Rio de Janeiro, Brazil, December 9-12, 2025. pages 3065-3072, IEEE, 2025. [doi]
Abstract is missing.