@inproceedings{hubicki2016work,
  title={Work those arms: Toward dynamic and stable humanoid walking that optimizes full-body motion},
  author={Hubicki, Christian M and Hereid, Ayonga and Grey, Michael X and Thomaz, Andrea L and Ames, Aaron D},
  booktitle={Robotics and Automation (ICRA), 2016 IEEE International Conference on},
  pages={1552--1559},
  year={2016},
  organization={IEEE}
}