most citedPiecewise-differentiable trajectory outcomes in mechanical systems subject to unilateral constraints

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math.DS2014

Event-Selected Vector Field Discontinuities Yield Piecewise-Differentiable Flows

Samuel A. Burden, S. Shankar Sastry, Daniel E. Koditschek +1

We study a class of discontinuous vector fields brought to our attention by multi-legged animal locomotion. Such vector fields arise not only in biomechanics, but also in robotics,…