# Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture

> Research article (Multibody System Dynamics, 2015) · cited 22× · AI/ML

**Wikidata**: [openalex:W1997136388](https://www.wikidata.org/wiki/openalex:W1997136388)  
**Source**: https://4ort.xyz/entity/fully-analytical-solution-to-discrete-behavior-of-hybrid-zero-dynamics-in-limit-cycle-walking-with-constraint-on-impact-