@inproceedings{chao2016unification,
  title={Unification of locomotion pattern generation and control {L}yapunov function-based quadratic programs},
  author={Chao, Kenneth Y and Powell, Matthew J and Ames, Aaron D and Hur, Pilwon},
  booktitle={American Control Conference (ACC), 2016},
  pages={3910--3915},
  year={2016},
  organization={IEEE},
  url = {http://ames.caltech.edu/2016ACC_1852_FI.pdf},
  url_video = {https://youtu.be/KNUo4AH2fv0},
  keywords = {Bipedal Robotics, Locomotion, Control Lyapunov Functions (CLFs), Optimization-based Control}
}

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