Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems

@article{Shiriaev2008CanWM,
  title={Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems},
  author={Anton S. Shiriaev and Leonid B. Freidovich and Ian R. Manchester},
  journal={Annual Reviews in Control},
  year={2008},
  volume={32},
  pages={200-211}
}
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