@INPROCEEDINGS{6907605, 
author={W. L. Ma and H. H. Zhao and S. Kolathaya and A. D. Ames}, 
booktitle={2014 IEEE International Conference on Robotics and Automation (ICRA)}, 
title={Human-inspired walking via unified PD and impedance control}, 
year={2014}, 
volume={}, 
number={}, 
pages={5088-5094}, 
keywords={PD control;feedback;feedforward;legged locomotion;optimisation;robot dynamics;torque control;trajectory control;AMBER2 walking scheme;bipedal walking;feed-forward impedance control;feedback PD control;human-inspired walking;human-like gait;impact dynamics;impedance torque control law;motor model;nonlinear dynamics;optimization algorithm;planar footed bipedal robot;trajectory control;Hip;Impedance;Joints;Legged locomotion;PD control;Torque}, 
doi={10.1109/ICRA.2014.6907605}, 
ISSN={1050-4729}, 
month={May},}