Stable dynamic walking over uneven terrain

LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification

(2010) Russ Tedrake et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

A framework for the control of stable aperiodic walking in underactuated planar bipeds

(2009) T. Yang et al.   AUTONOMOUS ROBOTS

Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots

(2009) B. Morris et al.   IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Asymptotically Stable Walking of a Five-Link Underactuated 3-D Bipedal Robot

(2009) C. Chevallereau et al.   IEEE Transactions on Robotics

Metastable Walking Machines

(2009) Katie Byl et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems

(2008) A.S. Shiriaev et al.   ANNUAL REVIEWS IN CONTROL

Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments

(2007) L. Freidovich et al.   AUTOMATICA