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Powell, Matthew J, Cousineau, Eric A, Ames, Aaron D.  2015.  Model predictive control of underactuated bipedal robotic walking. Robotics and Automation (ICRA), 2015 IEEE International Conference on. :5121–5126.
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Reher, Jacob, Cousineau, Eric A, Hereid, Ayonga, Hubicki, Christian M, Ames, Aaron D.  2016.  Realizing dynamic and efficient bipedal locomotion on the humanoid robot DURUS. Robotics and Automation (ICRA), 2016 IEEE International Conference on. :1794–1801.