@inproceedings{hereid20163d,
  title={{3D} dynamic walking with underactuated humanoid robots: A direct collocation framework for optimizing hybrid zero dynamics},
  author={Hereid, Ayonga and Cousineau, Eric A and Hubicki, Christian M and Ames, Aaron D},
  booktitle={Robotics and Automation (ICRA), 2016 IEEE International Conference on},
  pages={1447--1454},
  year={2016},
  organization={IEEE},
  url = {http://ames.caltech.edu/icra_2016_collocation.pdf},
  url_video = {https://youtu.be/a-R4H8-8074},
  note = {{Best Paper Award Finalist of ICRA 2016.}},
  keywords = {Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems, Optimization}
}

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