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Hybrid zero dynamics (HZD) has emerged as a popular framework for dynamic and underactuated bipedal walking, but has significant implementation difficulties when applied to the high degrees of freedom present in humanoid robots. The primary impediment is the process of gait designit is difficult for optimizers to converge on a viable set of virtual constraints defining a gait. This paper presents a methodology that allows for the fast and reliable generation of efficient multi-contact roboticdoi:10.1109/icra.2016.7487279 dblp:conf/icra/HereidCHA16 fatcat:gz2gawuofrfajefu4spk2dtmte