@INPROCEEDINGS{7799218, author={A. Hereid and S. Kolathaya and A. D. Ames}, booktitle={2016 IEEE 55th Conference on Decision and Control (CDC)}, title={Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization}, year={2016}, volume={}, number={}, pages={6173-6179}, keywords={Legendre polynomials;feedback;legged locomotion;optimisation;robot dynamics;stability;HZD control framework;HZD gait optimization;Legendre pseudospectral optimization;bipedal walking robots;direct transcription formulation;dynamic locomotion stable control;dynamic walking;feedback controllers;global orthogonal collocation;hybrid zero dynamics control framework;nonlinear constrained optimization;online HZD gait generation;online optimal gait generation;optimal gait synthesis;planar underactuated robot;robot full body dynamics;virtual constraints;Control systems;Dynamics;Legged locomotion;Optimization;Orbits;Robot kinematics}, doi={10.1109/CDC.2016.7799218}, ISSN={}, month={Dec},}