Papers

Here is a list of papers contributed by CHESS Bipeds.
	Towards the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers	IFAC 3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Nagoya, Japan.

Related CHESS papers.
	Hybrid Routhian Reduction of Hybrid Lagrangians and Lagrangian Hybrid Systems	Aaron Ames and Shankar Sastry. 2006 American Control Conference, Minneapolis, MN.

	Hybrid Cotangent Bundle Reduction of Simple Hybrid Mechanical Systems with Symmetry	Aaron Ames and Shankar Sastry. 2006 American Control Conference, Minneapolis, MN.

	Is there Life after Zeno? Taking Executions past the Breaking (Zeno) Point.	Aaron D. Ames, Haiyang Zheng, Robert Gregg and Shankar Sastry. 2006 American Control Conference, Minneapolis, MN.

Related outside papers.
	History of Passive Dynamics & Toys	Collection of papers on passive dynamic walking by Tad McGeer.

	Compass-like biped robot Part I: Stability and bifurcation of passive gaits	Paper by Goswami, Thuilot, Espiau.

	Passivity-based Control and Potential Shaping	Website of Mark Spong at the University of Illinois.

	Hybrid-Zero Dynamics on Bipedal Walking	Website of Jessy Grizzle at the University of Michigan.