# Invariant funnels for underactuated dynamic walking robots: New phase variable and experimental validation

> Research article (2017 IEEE International Conference on Robotics and Automation (ICRA), 2017) · cited 17× · AI/ML

**Wikidata**: [openalex:W2737045686](https://www.wikidata.org/wiki/openalex:W2737045686)  
**Source**: https://4ort.xyz/entity/invariant-funnels-for-underactuated-dynamic-walking-robots-new-phase-variable-and-experimental-validation