@article{xiong2020dynamic,
  title={Dynamic and versatile humanoid walking via embedding {3D} actuated {SLIP} model with hybrid lip based stepping},
  author={Xiong, Xiaobin and Ames, Aaron D},
  journal={IEEE Robotics and Automation Letters},
  volume={5},
  number={4},
  pages={6286--6293},
  year={2020},
  publisher={IEEE},
  url = {http://ames.caltech.edu/xiong2020dynamic.pdf},
  url_video = {http://ames.caltech.edu/xiong2020dynamic.mp4}
}

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