CHARLES, W. G.; MAHMOODI, P.; RANSING, R. S.; SAZONOV, I.; FRISWELL, M. I. Comparison of point foot, collisional and smooth rolling contact models on the bifurcations and stability of bipedal walking. European Journal of Computational Mechanics, [S. l.], v. 25, n. 03, p. 273–293, 2016. Disponível em: https://journals.riverpublishers.com/index.php/EJCM/article/view/819. Acesso em: 11 may. 2026.