@article{wang2022frontiers,
  title={Fast Online Optimization for Terrain-Blind Bipedal Robot Walking with a Decoupled Actuated {SLIP} Model},
  author={Wang, Ke and Fei, Hengyi and Kormushev, Petar},
  journal={Frontiers in Robotics and AI},
  year={2022},
  month={January},
  issn="2296-9144",
  url = "https://kormushev.com/papers/Wang_Frontiers-2022.pdf"
}