@article{herzog_momentum_2016, title = {Momentum {Control} with {Hierarchical} {Inverse} {Dynamics} on a {Torque}-{Controlled} {Humanoid}}, author = {Herzog, A. and Rotella, N and Mason, S and Grimminger, F and Schaal, S. and Righetti, L.}, journal = {Autonomous Robots}, volume = {40}, number = {3}, pages = {473--491}, year = {2016}, doi = {10.1007/s10514-015-9476-6}, url = {https://arxiv.org/abs/1410.7284} }