@misc{dai2021bipedal,
  title={Bipedal Walking on Constrained Footholds: Momentum Regulation via Vertical COM Control},
  author={Dai, Min and Xiong, Xiaobin and Ames, Aaron},
  journal={arXiv preprint arXiv:2104.10367},
  year={2021},
  url = {http://ames.caltech.edu/dai2021bipedal.pdf},
  url_video = {https://www.youtube.com/watch?v=BKx2F9STyVA}
}

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