@inproceedings{hereid2015hybrid,
  title={Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking},
  author={Hereid, Ayonga and Hubicki, Christian M and Cousineau, Eric A and Hurst, Jonathan W and Ames, Aaron D},
  booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},
  pages={5734--5740},
  year={2015},
  organization={IEEE},
  url = {http://ames.caltech.edu/icra_2015_multiple_shooting.pdf}
}

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