Jessy W. Grizzle, Gabriel Abba, Franck Plestan. Asymptotically stable walking for biped robots: analysis via systems with impulse effects. IEEE Trans. Automat. Contr., 46(1):51-64, 2001. [doi]
@article{GrizzleAP01,
title = {Asymptotically stable walking for biped robots: analysis via systems with impulse effects},
author = {Jessy W. Grizzle and Gabriel Abba and Franck Plestan},
year = {2001},
doi = {10.1109/9.898695},
url = {http://dx.doi.org/10.1109/9.898695},
researchr = {https://researchr.org/publication/GrizzleAP01},
cites = {0},
citedby = {0},
journal = {IEEE Trans. Automat. Contr.},
volume = {46},
number = {1},
pages = {51-64},
}