@inproceedings{wendel2010rank,
  title={Rank properties of {P}oincar{\'e} maps for hybrid systems with applications to bipedal walking},
  author={Wendel, Eric DB and Ames, Aaron D},
  booktitle={Proceedings of the 13th ACM international conference on Hybrid systems: computation and control},
  pages={151--160},
  year={2010},
  organization={ACM},
  url = {http://ames.caltech.edu/p151-wendel.pdf}
}

%%%%%%%%%%%%%%% year={2009} %%%%%%%%%%%

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