@article{hereid2018dynamic,
  title={Dynamic humanoid locomotion: A scalable formulation for HZD gait optimization},
  author={Hereid, Ayonga and Hubicki, Christian M and Cousineau, Eric A and Ames, Aaron D},
  journal={IEEE Transactions on Robotics},
  volume={34},
  number={2},
  pages={370--387},
  year={2018},
  publisher={IEEE}
}