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The control of underactuated biped robots in single support phase can be done choosing a certain number of output functions which are dependent on the state variables, i.e. on angular positions and velocities; the choice of these output functions is better if they yield the definition of a minimal phase system. In the paper some examples are discussed. It is suggested that the underlying mathematical problem states and solves the problem in a concise manner.
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Cambrini et al. (2002) studied this question.