@inproceedings{Dai_2012,
    doi = {10.1109/cdc.2012.6425971},
    url = {https://doi.org/10.1109%2Fcdc.2012.6425971},
    year = {2012},
    month = {dec},
    publisher = {{IEEE}},
    author = {Hongkai Dai and Russ Tedrake},
    title = {Optimizing robust limit cycles for legged locomotion on unknown terrain},
    booktitle = {2012 {IEEE} 51st {IEEE} Conference on Decision and Control ({CDC})}
}

@inproceedings{Dai_2012, doi = {10.1109/cdc.2012.6425971}, url = {https://doi.org/10.1109%2Fcdc.2012.6425971}, year = {2012}, month = {dec}, publisher = {{IEEE}}, author = {Hongkai Dai and Russ Tedrake}, title = {Optimizing robust limit cycles for legged locomotion on unknown terrain}, booktitle = {2012 {IEEE} 51st {IEEE} Conference on Decision and Control ({CDC})} }