@article{AMES2017155,
title = "First steps toward formal controller synthesis for bipedal robots with experimental implementation",
journal = "Nonlinear Analysis: Hybrid Systems",
volume = "25",
pages = "155 - 173",
year = "2017",
issn = "1751-570X",
doi = "https://doi.org/10.1016/j.nahs.2017.01.002",
url = "http://www.sciencedirect.com/science/article/pii/S1751570X1730002X",
author = "Aaron D. Ames and Paulo Tabuada and Austin Jones and Wen-Loong Ma and Matthias Rungger and Bastian Schürmann and Shishir Kolathaya and Jessy W. Grizzle",
keywords = "Hybrid systems, Formal methods, Nonlinear control, Bipedal robotics"
}