@article{stilman2005dpr,
  title={{Dynamic Programming in Reduced Dimensional Spaces: Dynamic Planning For Robust Biped Locomotion}},
  author={Stilman, M. and Atkeson, CG and Kuffner, JJ and Zeglin, G.},
  journal={Robotics and Automation, 2005. Proceedings of the 2005 IEEE International Conference on},
  pages={2399-2404},
  year={2005}
}