@article{gehring2016practice,
  title={Practice makes perfect: An optimization-based approach to controlling agile motions for a quadruped robot},
  author={Gehring, Christian and Coros, Stelian and Hutter, Marco and Bellicoso, C. Dario and Heijnen, Huub and Diethelm, Remo and Bloesch, Michael and Fankhauser, P{\'e}ter and Hwangbo, Jemin and Hoepflinger, Mark and others},
  journal={IEEE Robotics \& Automation Magazine},
  volume={23},
  number={1},
  pages={34--43},
  year={2016},
  publisher={IEEE}
}

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