@inproceedings{hereid2016online,
  title={Online optimal gait generation for bipedal walking robots using {L}egendre pseudospectral optimization},
  author={Hereid, Ayonga and Kolathaya, Shishir and Ames, Aaron D},
  booktitle={Decision and Control (CDC), 2016 IEEE 55th Conference on},
  pages={6173--6179},
  year={2016},
  organization={IEEE},
  url = {http://ames.caltech.edu/cdc_2016_online.pdf},
  url_video = {https://youtu.be/pvH3c2G2Pj4}
}

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