“…is the input matrix of the contact force and Θ ∈ R is one in the case of contact (d c ≥ 0) and zero otherwise (d c < 0). By rearranging (9) and assuming full rank of M, the state-space representation η = Aη + Bu + NΘ (η, k s , µ), (11) with η ∈ R 72 , u ∈ R 3 , ∈ R 72 , A ∈ R 72×72 , B ∈ R 72×3 , and N ∈ R 72×72 can be achieved. The state vector η is defined as η = d ḋ , and the input vector u is…”