Robust stabilization of hybrid periodic orbits of passive walking mechanisms. - Oumnia Licer; Noureddine Elalami; Mostafa Mrabti (Humanoids, 2007)

Lyapunov Stability of Hybrid System Limit Cycle Application to the Compass Gait Biped. - Oumnia Licer; Noureddine Elalami; Mostafa Mrabti (ICECS, 2007)