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  _____     ______   _    _      ___      _____   
 / ____||  /_   _// | \  / ||   / _ \\   /  ___|| 
/ //---`'   -| ||-  |  \/  ||  | / \ || | // __   
\ \\___     _| ||_  | .  . ||  | \_/ || | \\_\ || 
 \_____||  /_____// |_|\/|_||   \___//   \____//  
  `----`   `-----`  `-`  `-`    `---`     `---`

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Text this: HYBRID DYNAMICS OF NONSMOOTH MECHANICAL SYSTEMS: MODELING, SIMULATION, AND DESIGN OF LEGGED ROBOTS