@inproceedings{zhao20163d,
  title={{3D} multi-contact gait design for prostheses: Hybrid system models, virtual constraints and two-step direct collocation},
  author={Zhao, Huihua and Hereid, Ayonga and Ambrose, Eric and Ames, Aaron D},
  booktitle={Decision and Control (CDC), 2016 IEEE 55th Conference on},
  pages={3668--3674},
  year={2016},
  organization={IEEE},
  url = {http://ames.caltech.edu/ampro3d_2016cdc.pdf},
  url_video = {https://youtu.be/eH6NRq1OK3w}
}

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