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Simplified models of limit-cycle walking on flat terrain have provided important insights into the nature of legged locomotion. Real walking robots (and humans), however, do not exhibit true limit cycle dynamics because terrain, even in a carefully designed laboratory setting, is inevitably non-flat. Walking systems on stochastically rough terrain may not satisfy strict conditions for limit-cycle stability but can still demonstrate impressively long-living periods of continuous walking. Here,doi:10.15607/rss.2008.iv.030 dblp:conf/rss/BylT08 fatcat:5bih7edfdfdk5m5aekhm7o56zy