@inproceedings{Nakanishi_ICRA_2007, title = {Inverse dynamics control with floating base and constraints}, author = {Nakanishi, J. and Mistry, M. and Schaal, S.}, booktitle = {International Conference on Robotics and Automation (ICRA2007)}, pages = {1942-1947}, address = {Rome, Italy, April 10-14}, year = {2007}, note = {clmc}, doi = {}, crossref = {p2597}, url = {http://www-clmc.usc.edu/publications/N/nakanishi-ICRA2007.pdf} }