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Rimon, E. and Mason, R. and Burdick, J. W. et al. (2008) A General Stance Stability Test Based on Stratified Morse Theory With Application to Quasi-Static Locomotion Planning. IEEE Transactions on Robotics, 24 (3). pp. 626-641. ISSN 1552-3098. http://resolver.caltech.edu/CaltechAUTHORS:RIMieeetr08

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