"3D"@en . "3D underactuated bipedal robot"@en . "4410fb306d2802e9d506cc0f3c80627e" . "Ching-Long Shih" . "Underactuated"@en . "Ching-Long" . "Steering"@en . "Poincar\u00E9 map"@en . . . "Stride-to-stride control"@en . "Orbital stability"@en . "Stability"@en . "Biped walking"@en . "Hybrid zero dynamics"@en . "Shih" .