@inproceedings{reher2016algorithmic,
  title={Algorithmic foundations of realizing multi-contact locomotion on the humanoid robot {DURUS}},
  author={Reher, Jacob P and Hereid, Ayonga and Kolathaya, Shishir and Hubicki, Christian M and Ames, Aaron D},
  booktitle={The International Workshop on the Algorithmic Foundations of Robotics (WAFR)},
  year={2016},
  url = {http://ames.caltech.edu/WAFR_2016_multicontact.pdf},
  url_video = {https://youtu.be/1fC7b2LjVW4},
  keywords = {Bipedal Robotics, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems, Optimization, DURUS}
}

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