@article{ames2017first,
  title={First steps toward formal controller synthesis for bipedal robots with experimental implementation},
  author={Ames, Aaron D and Tabuada, Paulo and Jones, Austin and Ma, Wen-Loong and Rungger, Matthias and Sch{\"u}rmann, Bastian and Kolathaya, Shishir and Grizzle, Jessy W},
  journal={Nonlinear Analysis: Hybrid Systems},
  volume={25},
  pages={155--173},
  year={2017},
  publisher={Elsevier},
  url = {http://ames.caltech.edu/ames2017first.pdf},
  url_video = {https://youtu.be/UKuI7cEOEzs},
  keywords = {Formal Methods, Locomotion, Bipedal Robotics, Hybrid Zero Dynamics (HZD), AMBER}
}

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