@inproceedings{huihua2012bipedal,
  title={Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization},
  author={Huihua, Zhao and Yadukumar, Shishir Nadubettu and Ames, Aaron D},
  booktitle={Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on},
  pages={1821--1827},
  year={2012},
  organization={IEEE},
  url = {http://ames.caltech.edu/iros_2012_running.pdf},
  url_video = {https://youtu.be/3X3wGOSLywg},
}

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