@ARTICLE{ccs_ma_2021,  
author={Ma, Wen-Loong and Csomay-Shanklin, Noel and Kolathaya, Shishir and Hamed, Kaveh Akbari and Ames, Aaron D.},  
journal={IEEE Robotics and Automation Letters},   
title={Coupled Control Lyapunov Functions for Interconnected Systems, With Application to Quadrupedal Locomotion},   
year={2021},  
volume={6},  
number={2},  
pages={3761-3768},  
doi={10.1109/LRA.2021.3065174}}