@inproceedings{ames2015first,
  title={First steps toward formal controller synthesis for bipedal robots},
  author={Ames, Aaron D and Tabuada, Paulo and Sch{\"u}rmann, Bastian and Ma, Wen-Loong and Kolathaya, Shishir and Rungger, Matthias and Grizzle, Jessy W},
  booktitle={Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control},
  pages={209--218},
  year={2015},
  organization={ACM},
  url = {http://ames.caltech.edu/Robotic_Walking_HSCC_2015.pdf}
}

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