@inproceedings{Ma:2017:BRR:3049797.3049823, author = {Ma, Wen-Loong and Kolathaya, Shishir and Ambrose, Eric R. and Hubicki, Christian M. and Ames, Aaron D.}, title = {Bipedal Robotic Running with DURUS-2D: Bridging the Gap Between Theory and Experiment}, booktitle = {Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control}, series = {HSCC '17}, year = {2017}, isbn = {978-1-4503-4590-3}, location = {Pittsburgh, Pennsylvania, USA}, pages = {265--274}, numpages = {10}, url = {http://doi.acm.org/10.1145/3049797.3049823}, doi = {10.1145/3049797.3049823}, acmid = {3049823}, publisher = {ACM}, address = {New York, NY, USA}, keywords = {bipedal running, hybrid zero dynamics, input to state stability, multi-domain hybrid systems, nonlinear programming}, }