@inproceedings{cousineau2015realizing,
  title={Realizing underactuated bipedal walking with torque controllers via the ideal model resolved motion method},
  author={Cousineau, Eric and Ames, Aaron D},
  booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},
  pages={5747--5753},
  year={2015},
  organization={IEEE},
  url = {http://ames.caltech.edu/icra2015_imrmm.pdf},
  url_video = {https://youtu.be/6BAzHszOpsA}
}

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