Decomposition of existence and stability analysis of periodic solutions of systems with impacts: Application to bipedal walking robot.

Leonid M. Fridman Yannick Aoustin Franck Plestan Decomposition of existence and stability analysis of periodic solutions of systems with impacts: Application to bipedal walking robot. 5238-5243 2008 CDC https://doi.org/10.1109/CDC.2008.4738650 conf/cdc/2008 db/conf/cdc/cdc2008.html#FridmanAP08