# Numerical Estimation of Balanced and Falling States for Constrained Legged Systems

> Research article (Journal of Nonlinear Science, 2017) · cited 29× · AI/ML

**Wikidata**: [openalex:W2570755862](https://www.wikidata.org/wiki/openalex:W2570755862)  
**Source**: https://4ort.xyz/entity/numerical-estimation-of-balanced-and-falling-states-for-constrained-legged-systems