@inproceedings{pekarek2007discrete,
  title={Discrete mechanics and optimal control applied to the compass gait biped},
  author={Pekarek, David and Ames, Aaron D and Marsden, Jerrold E},
  booktitle={Decision and Control, 2007 46th IEEE Conference on},
  pages={5376--5382},
  year={2007},
  organization={IEEE},
  url = {http://ames.caltech.edu/PeAmMa2007.pdf}
}

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