@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} }