The dynamics of discrete mechanical systems with perfect unilateral constraints Archive for Rational Mechanics and Analysis, pp.199-274, 2000. ,
Stabilization and regulation of nonsmooth lagrangian systems, Technical Report, vol.5408, 2004. ,
Position and Force Control of Nonsmooth Lagrangian Dynamical Systems Without Friction, Lecture Notes in Computer Science, vol.3414, p.215, 2005. ,
DOI : 10.1007/978-3-540-31954-2_14
URL : https://hal.archives-ouvertes.fr/inria-00390411
Convex Analysis and Minimization Algorithms, 1996. ,
DOI : 10.1007/978-3-662-02796-7
Nonlinear systems, 1996. ,
Dynamical properties of hybrid automata, IEEE Transactions on Automatic Control, vol.48, issue.1, pp.2-17, 2003. ,
DOI : 10.1109/TAC.2002.806650
A general stability test for multiply contacted objects in a potential field, with example applications to planar objects under gravity, IEEE Transactions on Robotics and Automation, 1996. ,
Bounded variation in time, Topics in Nonsmooth Mechanics, pp.1-74, 1988. ,
URL : https://hal.archives-ouvertes.fr/hal-01363799
Unilateral Contact and Dry Friction in Finite Freedom Dynamics, Nonsmooth mechanics and Applications, pp.1-82, 1988. ,
DOI : 10.1007/978-3-7091-2624-0_1
Extended invariance principle for nonautonomous switched systems, IEEE Transactions on Automatic Control, vol.48, issue.8, pp.1448-1452, 2003. ,
DOI : 10.1109/TAC.2003.815043
Control of ground interaction at the zero-moment point for dynamic control of humanoid robots, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ,
Position and force control for constrained manipulator motion: Lyapunov's direct method, IEEE Transactions on Robotics and Automation, vol.9, issue.3, pp.308-313, 1993. ,
DOI : 10.1109/70.240200
Hybrid zero dynamics of planar biped walkers, IEEE Transactions on Automatic Control, vol.48, issue.1, pp.42-56, 2003. ,
DOI : 10.1109/TAC.2002.806653
Modélisation et commande d'un robot marcheur anthropomorphe, 2000. ,
On the stability of walking systems, Proceedings of the International Workshop on Humanoid and Human Friendly Robotics, 2002. ,
URL : https://hal.archives-ouvertes.fr/inria-00390866
Stability theory for hybrid dynamical systems, IEEE Transactions on Automatic Control, vol.43, issue.4, pp.461-474, 1998. ,
DOI : 10.1109/9.664149
Methods of A.M. Lyapunov and their application. Noordhoff, 1964. ,