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@article{hereid2018dynamic,
  title={Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization},
  author={Hereid, Ayonga and Hubicki, Christian M and Cousineau, Eric A and Ames, Aaron D},
  journal={IEEE Transactions on Robotics},
  volume={34},
  number={2},
  pages={370--387},
  year={2018},
  publisher={IEEE},
  url = {http://ames.caltech.edu/Hereid2018Dynamic.pdf},
  url_video = {http://ames.caltech.edu/Hereid2018Dynamic.mp4},
}