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Predicted Step Viability: a stability criterion for biped g..:

Rossi, Luis Filipe ; Parik-Americano, Pedro ; Simões, Ivan Fischman Ekman.
Journal of the Brazilian Society of Mechanical Sciences and Engineering.  41 (2019)  12 - p. , 2019
Link: https://doi.org/10.1007/s40430-019-2052-9