@article{reher2021control,
  title={Control lyapunov functions for compliant hybrid zero dynamic walking},
  author={Reher, Jenna and Ames, Aaron D},
  journal={arXiv preprint arXiv:2107.04241},
  year={2021},
  url = {http://ames.caltech.edu/reher2021control.pdf},
  url_video = {https://youtu.be/X0bHOHXOp9E}
}

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