@inproceedings{sinnet20093d,
  title={{3D} bipedal walking with knees and feet: A hybrid geometric 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={3208--3213},
  year={2009},
  organization={IEEE},
  url = {http://ames.caltech.edu/CDCryan3d.pdf}
}


%%%%%%%%%%%%%%% year={2008} %%%%%%%%%%%

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