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@article{Kalakrishnan_IJRR_2010,
  author =		 "Kalakrishnan, M. and Buchli, J. and Pastor, P. and Mistry, M. and Schaal, S.",
  year =		 "2010",
  title =		 "Learning, planning, and control for quadruped locomotion over challenging terrain",
  booktitle =		 "International Journal of Robotics Research",
  key =			 "quadruped locomotion, locomotion planning and control, template learning, zmp optimization, floating base inverse
dynamics",
  URL =			 "http://www-clmc.usc.edu/publications/K/kalakrishnan-IJRR2010.pdf",
  number =		 "2",
  pages =		 "236-258",
  crossref =		 "p10420"
}

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