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Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid

Alexander Herzog, Nicholas Rotella, Sean Mason, Felix Grimminger, Stefan Schaal, Ludovic Righetti. Momentum control with hierarchical inverse dynamics on a torque-controlled humanoid. Auton. Robots, 40(3):473-491, 2016. [doi]

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Alexander Herzog

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Nicholas Rotella

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Sean Mason

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Felix Grimminger

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Stefan Schaal

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Ludovic Righetti

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