@article{wang2024ras,
  title={When and where to step: Terrain-aware real-time footstep location and timing optimization for bipedal robots},
  author={Wang, Ke and Jacopo Hu, Zhaoyang and Tisnikar, Peter and Helander, Oskar and Chappell, Digby and Kormushev, Petar},
  journal={Robotics and Autonomous Systems},
  year={2024},
  month={September},
  issn={0921-8890},
  volume={179},
  pages = {104742},
  url = "https://kormushev.com/papers/Wang_RAS-2024.pdf",
  doi = "10.1016/j.robot.2024.104742"
}