# Hybrid Zero Dynamics of Bipedal Robots Under Nonholonomic Virtual Constraints

> Research article (IEEE Control Systems Letters, 2018) · cited 15× · AI/ML

**Wikidata**: [openalex:W2905476369](https://www.wikidata.org/wiki/openalex:W2905476369)  
**Source**: https://4ort.xyz/entity/hybrid-zero-dynamics-of-bipedal-robots-under-nonholonomic-virtual-constraints