Efficient HZD gait generation for three-dimensional underactuated humanoid running. Ma, W., Hereid, A., Hubicki, C. M, & Ames, A. D In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages 5819–5825, 2016. IEEE.
Efficient HZD gait generation for three-dimensional underactuated humanoid running [pdf]Paper  Efficient HZD gait generation for three-dimensional underactuated humanoid running [link]Video  bibtex   
@inproceedings{ma2016efficient,
  title={Efficient {HZD} gait generation for three-dimensional underactuated humanoid running},
  author={Ma, Wen-Loong and Hereid, Ayonga and Hubicki, Christian M and Ames, Aaron D},
  booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
  pages={5819--5825},
  year={2016},
  organization={IEEE},
  url = {http://ames.caltech.edu/durusrun.pdf},
  url_video = {https://youtu.be/7uQOY3reavo}
}
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