@article{CaEsLaMa2019,
  title = {Capturability-based {P}attern {G}eneration for {W}alking with {V}ariable {H}eight},
  author = {Caron, St{\'e}phane and Escande, Adrien and Lanari, Leonardo and Mallein, Bastien},
  journal = {IIIE T-RO},
  fjournal = {IEEE Transactions on Robotics},
  volume = {36},
  issue ={2},
  year = {2020},
  url = {https://hal.archives-ouvertes.fr/hal-01689331},
  publisher = {IEEE},
  doi = {10.1109/TRO.2019.2923971},
  pages = {517-536},
  issn ={1552-3098},
}