@inproceedings{ma2014human,
  title={Human-inspired walking via unified {PD} and impedance control},
  author={Ma, Wen-Loong and Zhao, Hui-Hua and Kolathaya, Shishir and Ames, Aaron D},
  booktitle={Robotics and Automation (ICRA), 2014 IEEE International Conference on},
  pages={5088--5094},
  year={2014},
  organization={IEEE},
  url = {http://ames.caltech.edu/amber2_icra2014_reduced.pdf},
  url_video = {https://youtu.be/d6oM5sLI9vA}
}

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