@inproceedings{teel2013stabilization,
  title={A stabilization result with application to bipedal locomotion},
  author={Teel, Andrew R and Goebel, Rafal and Morris, Benjamin and Ames, Aaron D and Grizzle, Jessy W},
  booktitle={Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on},
  pages={2030--2035},
  year={2013},
  organization={IEEE},
  url = {http://ames.caltech.edu/cdc13_1617_fi.pdf}
}

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