@Article{caron:tro:2020,
  author    = {Caron, St{\'e}phane and Escande, Adrien and Lanari, Leonardo and Mallein, Bastien},
  title     = {Capturability-Based Pattern Generation for Walking With Variable Height},
  journal   = {IEEE Transactions on Robotics},
  year      = {2020},
  volume    = {36},
  number    = {2},
  pages     = {517--536},
  month     = {April},
  doi       = {10.1109/tro.2019.2923971},
  url       = {https://arxiv.org/abs/1801.07022},
  keywords  = {Legged locomotion, Lips, Mathematical model, Trajectory, Contacts, Optimization},
  publisher = {IEEE-INST Electrical Electronics Engineers Inc},
  address   = {445 Hoes Lane, Piscataway, NJ 08855-4141, USA}
}