@inproceedings{zhao2014quadraticacc,
  title={Quadratic program based control of fully-actuated transfemoral prosthesis for flat-ground and up-slope locomotion},
  author={Zhao, Huihua and Ames, Aaron D},
  booktitle={American Control Conference (ACC), 2014},
  pages={4101--4107},
  year={2014},
  organization={IEEE},
  url = {http://ames.caltech.edu/miqpimpedance_acc2014.pdf},
  url_video = {https://youtu.be/5TuTyKhMNiU}
}

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