@inproceedings{gosyne2018bipedial,
  title={Bipedial Locomotion Up Sandy Slopes: Systematic Experiments Using Zero Moment Point Methods},
  author={Gosyne, Jonathan R and Hubicki, Christian M and Xiong, Xiaobin and Ames, Aaron D and Goldman, Daniel I},
  booktitle={2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)},
  pages={994--1001},
  year={2018},
  organization={IEEE}
}