Impulsive Control for Anthropomorphic Biped

Many authors study the dynamics of two-legged walk theoretically. They are, for instance, Beletsky, Berbjuk, Bolotin, Farnsworth, Frank, Gubina, Hemami, Larin, Morecki, Moreinis, Novozhilov, Schiehlen, Seireg, Townsend, Vukobratovich, Zackiorski.