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A General Stance Stability Test Based on Stratified Morse Theory With Application to Quasi-Static Locomotion Planning

Elon Rimon, Richard Mason, Joel W. Burdick, Yizhar Or. A General Stance Stability Test Based on Stratified Morse Theory With Application to Quasi-Static Locomotion Planning. IEEE Transactions on Robotics, 24(3):626-641, 2008. [doi]

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