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Nonlinear control of mechanical systems with an unactuated cyclic variable., , and . IEEE Trans. Automat. Contr., 50 (5): 559-576 (2005)Monopedal running control: SLIP embedding and virtual constraint controllers., and . IROS, page 323-330. IEEE, (2007)Design of Asymptotically Stable Walking for a 5-Link Planar Biped Walker via Optimization., and . ICRA, page 3117-3122. IEEE, (2002)Synthesis of nonlinear observers via structural analysis and numerical differentiation., and . ECC, page 1428-1433. IEEE, (1999)Event-based PI control of an underactuated biped walker., , and . CDC, page 3091-3096. IEEE, (2003)Dynamic Walking on Stepping Stones with Gait Library and Control Barrier Functions., , , and . WAFR, volume 13 of Springer Proceedings in Advanced Robotics, page 384-399. Springer, (2016)Nonlinear Control of Mechanical Systems with one Degree of Underactuation., , and . ICRA, page 2222-2228. IEEE, (2004)Zeros at Infinity for Nonlinear Discrete Time Systems., and . Math. Syst. Theory, 19 (1): 79-93 (1986)From stable walking to steering of a 3D bipedal robot with passive point feet., , and . Robotica, 30 (7): 1119-1130 (2012)Feedback control of an underactuated planar bipedal robot with impulsive foot action., and . Robotica, 23 (5): 567-580 (2005)