@techreport{hurmuzlu:inria-00072297, TITLE = {{Modeling, Stability and Control of Biped Robots A General Framework}}, AUTHOR = {Hurmuzlu, Yildirim and G{\'e}not, Frank and Brogliato, Bernard}, URL = {https://inria.hal.science/inria-00072297}, TYPE = {Research Report}, NUMBER = {RR-4290}, INSTITUTION = {{INRIA}}, YEAR = {2001}, KEYWORDS = {BIPED ROBOTS ; NONSMOOTH MECHANICS ; MULTIPLE IMPACT LAWS ; HYBRID SYSTEM ; GAIT STABILITY ; CONTROL SYNTHESIS}, PDF = {https://inria.hal.science/inria-00072297/file/RR-4290.pdf}, HAL_ID = {inria-00072297}, HAL_VERSION = {v1}, }