From anchors to templates: Exact and approximate reduction in models
  of legged locomotion

Burden, S A; Revzen, Shai; Sastry, S S

S A Burden, Shai Revzen, S S Sastry

Dynamic Walking, 2013

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BibTeX

@conference{burden-2013-fatt,
  author = {Burden, S A and Revzen, Shai and Sastry, S S},
  title = {From anchors to templates: Exact and approximate reduction in models
    of legged locomotion},
  booktitle = {Dynamic Walking},
  year = {2013},
  url = {https://www.cmu.edu/dynamic-walking/files/abstracts/Burden_2013_DW.pdf}
}