Under stated invariance and bounded model mismatch conditions, a stable periodic orbit in a reduced-order locomotion model yields a stable periodic orbit of the full-order hybrid robot dynamics.
Multi-domain walking with reduced-order models of locomotion,
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A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics
Under stated invariance and bounded model mismatch conditions, a stable periodic orbit in a reduced-order locomotion model yields a stable periodic orbit of the full-order hybrid robot dynamics.