@article{zhao2014humaninspired,
  title={Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain},
  author={Zhao, Huihua and Powell, Matthew J and Ames, Aaron D},
  journal={Optimal Control Applications and Methods},
  volume={35},
  number={6},
  pages={730--755},
  year={2014},
  url = {http://ames.caltech.edu/oca2099.pdf}
}

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