# Natural Multicontact Walking for Robotic Assistive Devices via Musculoskeletal Models and Hybrid Zero Dynamics

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 14× · AI/ML

**Wikidata**: [openalex:W3199156842](https://www.wikidata.org/wiki/openalex:W3199156842)  
**Source**: https://4ort.xyz/entity/natural-multicontact-walking-for-robotic-assistive-devices-via-musculoskeletal-models-and-hybrid-zero-dynamics