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Pekarek, David and Ames, Aaron D. and Marsden, Jerrold E. (2007) Discrete Mechanics and Optimal Control Applied to the Compass Gait Biped. In: 46th IEEE Conference on Decision and Control. Proceedings IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 5376-5382. ISBN 978-1-4244-1497-0 . http://resolver.caltech.edu/CaltechAUTHORS:20101005-121327216

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