@article{reher2020algorithmic,
  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},
  journal={Proc. 12th Adv. Robot. Algorithmic Found. Robot},
  volume={13},
  pages={400--415},
  year={2020}
}

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