@article{grizzle2014models,
  title={Models, feedback control, and open problems of {3D} bipedal robotic walking},
  author={Grizzle, Jessy W and Chevallereau, Christine and Sinnet, Ryan W and Ames, Aaron D},
  journal={Automatica},
  volume={50},
  number={8},
  pages={1955--1988},
  year={2014},
  publisher={Pergamon},
  url = {http://ames.caltech.edu/AUTOMATICA_SurveyPaper_final.pdf}
}

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