# Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics

> Research article (Communications in Nonlinear Science and Numerical Simulation, 2019) · cited 22× · AI/ML

**Wikidata**: [openalex:W2969101933](https://www.wikidata.org/wiki/openalex:W2969101933)  
**Source**: https://4ort.xyz/entity/finite-time-stabilization-of-periodic-orbits-for-under-actuated-biped-walking-with-hybrid-zero-dynamics