@INPROCEEDINGS{6386182, 
author={S. N. Yadukumar and M. Pasupuleti and A. D. Ames}, 
booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems}, 
title={Human-inspired underactuated bipedal robotic walking with AMBER on flat-ground, up-slope and uneven terrain}, 
year={2012}, 
volume={}, 
number={}, 
pages={2478-2483}, 
keywords={legged locomotion;stability;voltage control;AMBER;formal method;formal model;human-inspired control strategy;human-inspired underactuated bipedal robotic walking;motor;underactuated physical bipedal robot;voltage-based controller;walking stability;DC motors;Foot;Hip;Humans;Legged locomotion;Torque}, 
doi={10.1109/IROS.2012.6386182}, 
ISSN={2153-0858}, 
month={Oct},}