@INPROCEEDINGS{6386241, 
author={Z. Huihua and S. Nadubettu Yadukumar and A. D. Ames}, 
booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems}, 
title={Bipedal robotic running with partial hybrid zero dynamics and human-inspired optimization}, 
year={2012}, 
volume={}, 
number={}, 
pages={1821-1827}, 
keywords={gait analysis;legged locomotion;optimisation;shock absorbers;simulation;vibration control;bipedal robotic;canonical locomotion function;human-inspired control;human-inspired optimization;human-like running;linear spring-mass-damper;partial hybrid zero dynamics;simulation;Foot;Hip;Humans;Legged locomotion;Optimization;Vectors}, 
doi={10.1109/IROS.2012.6386241}, 
ISSN={2153-0858}, 
month={Oct},}