@inproceedings{ames2011characterizing,
  title={Characterizing knee-bounce in bipedal robotic walking: A {Z}eno behavior approach},
  author={Ames, Aaron D},
  booktitle={Proceedings of the 14th international conference on Hybrid systems: computation and control},
  pages={163--172},
  year={2011},
  organization={ACM},
  url = {http://ames.caltech.edu/hscc52c-ames.pdf}
}

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