@conference {MillerBR:2006,
	title = {{Control of a Climbing Robot using Real-Time Convex Optimization}},
	booktitle = {Proceedings of the IFAC Symposium on Mechatronic Systems},
	year = {2006},
	month = {September},
	url = {http://www.stanford.edu/group/arl/cgi-bin/drupal/sites/default/files/public/publications/MillerBR 2006.pdf},
	author = {Teresa G. Miller and Timothy W. Bretl and Stephen M. Rock}
}
