@inproceedings{Mistry_RAIIC_2010, title = {Inverse dynamics control of floating base systems using orthogonal decomposition}, author = {Mistry, M. and Buchli, J. and Schaal, S.}, booktitle = {Robotics and Automation (ICRA), 2010 IEEE International Conference on}, pages = {3406-3412}, month = may, year = {2010}, note = {clmc}, doi = {}, crossref = {p10418}, url = {http://www-clmc.usc.edu/publications/M/mistry-ICRA2010.pdf}, month_numeric = {5} }