@inproceedings{powell2012motion,
  title={Motion primitives for human-inspired bipedal robotic locomotion: walking and stair climbing},
  author={Powell, Matthew J and Zhao, Huihua and Ames, Aaron D},
  booktitle={Robotics and Automation (ICRA), 2012 IEEE International Conference on},
  pages={543--549},
  year={2012},
  organization={IEEE},
  url = {http://ames.caltech.edu/MT_ICRA12_final.pdf},
}

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