Hybrid Invariance in Bipedal Robots with Series Compliant Actuators

Benjamin Morris, Jessy W. Grizzle. Hybrid Invariance in Bipedal Robots with Series Compliant Actuators. In 45th IEEE Conference on Decision and Control, CDC 2006, San Diego, CA, USA, 13-15 December, 2006. pages 4793-4800, IEEE, 2006. [doi]

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