# Eigenmodes of Nonlinear Dynamics: Definition, Existence, and Embodiment into Legged Robots with Elastic Elements

> Research article (IEEE Robotics and Automation Letters, 2017) · cited 24× · AI/ML

**Wikidata**: [openalex:W2580422331](https://www.wikidata.org/wiki/openalex:W2580422331)  
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