@inproceedings{powell2013speed,
  title={Speed regulation in {3D} robotic walking through motion transitions between human-inspired partial hybrid zero dynamics},
  author={Powell, Matthew J and Hereid, Ayonga and Ames, Aaron D},
  booktitle={Robotics and Automation (ICRA), 2013 IEEE International Conference on},
  pages={4803--4810},
  year={2013},
  organization={IEEE},
  url = {http://ames.caltech.edu/icra_2013_pha.pdf},
  url_video = {https://youtu.be/kLakY9rWh6Y}
}

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