@inproceedings{ames2012dynamically,
  title={Dynamically stable bipedal robotic walking with {NAO} via human-inspired hybrid zero dynamics},
  author={Ames, Aaron D and Cousineau, Eric A and Powell, Matthew J},
  booktitle={Proceedings of the 15th ACM international conference on Hybrid Systems: Computation and Control},
  pages={135--144},
  year={2012},
  organization={ACM},
  url = {http://ames.caltech.edu/NAO_HSCC12_final.pdf},
  url_video = {https://youtu.be/OBGHU-e1kc0}
}

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