@inproceedings{grizzle20103d,
  title={{3D} bipedal robotic walking: models, feedback control, and open problems},
  author={Grizzle, Jessy W and Chevallereau, Christine and Ames, Aaron D and Sinnet, Ryan W},
  booktitle={Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems (NOLCOS)},
  volume={43},
  number={14},
  pages={505--532},
  year={2010},
  publisher={Elsevier},
  url = {http://ames.caltech.edu/Grizzle_Plenary_NOLCOS2010_Final.pdf}
}

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