@inproceedings{kolathaya2016time,
  title={Time dependent control {L}yapunov functions and hybrid zero dynamics for stable robotic locomotion},
  author={Kolathaya, Shishir and Hereid, Ayonga and Ames, Aaron D},
  booktitle={American Control Conference (ACC), 2016},
  pages={3916--3921},
  year={2016},
  organization={IEEE},
  url = {http://ames.caltech.edu/2016ACC_TimeBasedFblin.pdf},
  url_video = {https://youtu.be/5JugZGxZnqg},
  keywords = {Bipedal Robotics, Locomotion, Input to State Stability (ISS), Control Lyapunov Functions (CLFs)}
}

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