# Do limit cycles matter in the long run? Stable orbits and sliding-mass dynamics emerge in task-optimal locomotion

> Research article (2015 IEEE International Conference on Robotics and Automation (ICRA), 2015) · cited 24× · AI/ML

**Wikidata**: [openalex:W1484929546](https://www.wikidata.org/wiki/openalex:W1484929546)  
**Source**: https://4ort.xyz/entity/do-limit-cycles-matter-in-the-long-run-stable-orbits-and-sliding-mass-dynamics-emerge-in-task-optimal-locomotion