Formal Methods in Bipedal Robotic Walking. Tabuada, P.; Ames, A.; and Grizzle, J. Formal methods.
bibtex   
@article{tabuada_formal_nodate,
	title = {Formal {Methods} in {Bipedal} {Robotic} {Walking}},
	language = {en},
	journal = {Formal methods},
	author = {Tabuada, Paulo and Ames, Aaron and Grizzle, Jessy},
	pages = {63}
}
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