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  _  __   __   __    _  _     _____     ____    
 | |/ //  \ \\/ //  | \| ||  |  ___||  |  _ \\  
 | ' //    \ ` //   |  ' ||  | ||__    | |_| || 
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 |_|\_\\    |_||    |_|\_||  |_____||  |_|\_\\  
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Text this: HYBRID DYNAMICS OF NONSMOOTH MECHANICAL SYSTEMS: MODELING, SIMULATION, AND DESIGN OF LEGGED ROBOTS