@inproceedings{sinnet20092d,
  title={{2D} bipedal walking with knees and feet: A hybrid control approach},
  author={Sinnet, Ryan W and Ames, Aaron D},
  booktitle={Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on},
  pages={3200--3207},
  year={2009},
  organization={IEEE},
  url = {http://ames.caltech.edu/CDCryan2d.pdf}
}

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