@inproceedings{hubicki2016work,
  title={Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion},
  author={Hubicki, Christian M and Hereid, Ayonga and Grey, Michael X and Thomaz, Andrea L and Ames, Aaron D},
  booktitle={Robotics and Automation (ICRA), 2016 IEEE International Conference on},
  pages={1552--1559},
  year={2016},
  organization={IEEE},
  url = {http://ames.caltech.edu/icra-2016-hubo.pdf},
  keywords = {Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems, Optimization}
}

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