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@misc{kolathaya2018inputstability,
  title={Input to State Stability of Bipedal Walking Robots: Application to {DURUS}},
  author={Kolathaya, Shishir and Reher, Jacob and Ames, Aaron D},
  howpublished ={arXiv preprint arXiv:1801.00618},
  year={2018},
  url = {http://ames.caltech.edu/kolathaya2018inputstability.pdf},
  keywords = {Bipedal Robotics, Hybrid Systems, DURUS, Input to State Stability (ISS), Hybrid Zero Dynamics (HZD)}
}

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