Optimizing walking controllers for uncertain inputs and environments

@article{Wang2010OptimizingWC,
  title={Optimizing walking controllers for uncertain inputs and environments},
  author={Jack M. Wang and David J. Fleet and Aaron Hertzmann},
  journal={ACM Trans. Graph.},
  year={2010},
  volume={29},
  pages={73:1-73:8}
}
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