# Ambiguous collision outcomes and sliding with infinite friction in models of legged systems

> Research article (The International Journal of Robotics Research, 2017) · cited 20× · AI/ML

**Wikidata**: [openalex:W2763488094](https://www.wikidata.org/wiki/openalex:W2763488094)  
**Source**: https://4ort.xyz/entity/ambiguous-collision-outcomes-and-sliding-with-infinite-friction-in-models-of-legged-systems