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A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics

BibTeX

@inproceedings{EstebanCDC25,
  title={A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics},
  author={S. A. Esteban and M. H. Cohen and A. B. Ghansah and A. D. Ames},
  booktitle={IEEE Conference on Decision and Control},
  year={2025}
}