Y. Aoustin and A. Formalskii, Walking of biped with passive exoskeleton: evaluation of energy consumption, Multibody System Dynamics, vol.43, pp.71-96, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01628077

A. M. Formal'skii, Motion of anthropomorphic biped under impulsive control, Proc. of Institute of Mechanics, pp.17-34, 1978.

A. M. Formal'skii, Ballistic walking design via impulsive control, Journal of Aerospace Engineering, vol.23, pp.129-138, 2010.

S. Miossec and Y. Aoustin, A simplified stability study for a biped walk with underactuated and overactuated phases, International Journal of Robotics Research, vol.24, issue.6, pp.537-551, 2005.