@inproceedings{hereid2017frost,
  title={{FROST}: Fast Robot Optimization and Simulation Toolkit},
  author={Hereid, Ayonga and Ames, Aaron D},
  booktitle={Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on},
  pages={4552--4559},
  year={2017},
  organization={IEEE},
  url = {http://ames.caltech.edu/hereid2017frost.pdf},
  url_code = {https://github.com/ayonga/frost-dev},
  keywords = {Optimization, Hybrid Zero Dynamics (HZD), Hybrid Systems, Bipedal Robotics, Locomotion}
}

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