Omid Heydarnia and  Akbar Allahverdizadeh and  Behnam Dadashzadeh and  M. R. Sayyed Noorani,  Control of Underactuated Biped Robots Using Event Based Fuzzy Partial Feedback Linearization.   journal   = {International Journal of Mechanical and Materials Engineering}, [online]. World Academy of Science, Engineering and Technology.
    July 2016, vol. 117(9). 1630 - 1636
    [viewed 26 April 2024]. Available from: https://publications.waset.org/pdf/10005223.