# Design and Experimental Validation of a Velocity Decomposition-Based Controller for Underactuated Planar Bipeds

> Research article (IEEE Robotics and Automation Letters, 2018) · cited 16× · AI/ML

**Wikidata**: [openalex:W2789316480](https://www.wikidata.org/wiki/openalex:W2789316480)  
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