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. 626-641 2008 24 IEEE Transactions on Robotics 3 http://dx.doi.org/10.1109/TRO.2008.919287 db/journals/trob/trob24.html#RimonMBO08