@incollection{ames2007onthegeometric,
  title={On the geometric reduction of controlled three-dimensional bipedal robotic walkers},
  author={Ames, Aaron D and Gregg, Robert and Wendel, Eric and Sastry, Shankar},
  journal={Lagrangian and Hamiltonian Methods for Nonlinear Control 2006},
  pages={183--196},
  year={2007},
  publisher={Springer Berlin/Heidelberg},
  url = {http://ames.caltech.edu/BipedReduction.pdf}
}

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