@inproceedings{ames2006geometricwalkers,
  title={On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers},
  author={Ames, Aaron D and Gregg, Robert D. and Wendel, Eric D. B. and Sastry, Shankar},
  booktitle={3rd Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control},
  year={2006},
  url = {http://ames.caltech.edu/BipedReduction.pdf},
}

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