@article{zhao2017first,
  title={First steps toward translating robotic walking to prostheses: a nonlinear optimization based control approach},
  author={Zhao, Huihua and Horn, Jonathan and Reher, Jacob and Paredes, Victor and Ames, Aaron D},
  journal={Autonomous Robots},
  volume={41},
  number={3},
  pages={725--742},
  year={2017},
  publisher={Springer US},
  url = {http://ames.caltech.edu/autorobots_specialissue.pdf},
  keywords = {Prostheses, Optimization-based Control, Locomotion, Hybrid Zero Dynamics (HZD), Hybrid Systems, AMPRO}
}

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