Start, Stop and Transition of Velocities of an under-Actuated Bipedal Robot without Reference Trajectories.

Christophe Sabourin Olivier Bruneau Jean-Guy Fontaine Start, Stop and Transition of Velocities of an under-Actuated Bipedal Robot without Reference Trajectories. 349-374 2004 1 I. J. Humanoid Robotics 2 http://dx.doi.org/10.1142/S0219843604000174 db/journals/ijhr/ijhr1.html#SabourinBF04