@ARTICLE{
author={Rodic Aleksandar D,Vukobratovic Miomir K,Addi Khalid,Dalleau Georges},
year={2008},
title={Contribution to the modeling of nonsmooth multipoint contact dynamics of biped locomotion - Theory and experiments},
journal={ROBOTICA},
volume={26},
number={},
pages={157-175},
document_type={Article},
}