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A hybrid controller that induces stable running gaits on a monopedal robot is developed. The robot features a rigid leg with a revolute knee and a heavy torso with center of mass located far from the hip. The torso houses a novel powertrain that provides series compliance in the compression direction of the leg. The proposed control law is developed within the hybrid zero dynamics framework and it acts on two levels. On the first level, continuous within-stride control asymptotically imposesdoi:10.1109/robot.2009.5152708 dblp:conf/icra/PoulakakisG09 fatcat:g742harbyjhbngfuyc5bey5tu4