@inproceedings{reher2016realizing,
  title={Realizing dynamic and efficient bipedal locomotion on the humanoid robot {DURUS}},
  author={Reher, Jacob and Cousineau, Eric A and Hereid, Ayonga and Hubicki, Christian M and Ames, Aaron D},
  booktitle={Robotics and Automation (ICRA), 2016 IEEE International Conference on},
  pages={1794--1801},
  year={2016},
  organization={IEEE},
  url = {http://ames.caltech.edu/ICRA2016_DURUS.pdf},
  url_video = {https://youtu.be/a-R4H8-8074},
  keywords = {Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems, DURUS}
}

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