Jerry E. Pratt, Sergey V. Drakunov. Derivation and Application of a Conserved Orbital Energy for the Inverted Pendulum Bipedal Walking Model. In 2007 IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 April 2007, Roma, Italy. pages 4653-4660, IEEE, 2007. [doi]
Abstract is missing.