@inproceedings{gregg_constrained_2010, title = {Constrained {Accelerations} for {Controlled} {Geometric} {Reduction}: {Sagittal}-{Plane} {Decoupling} for {Bipedal} {Locomotion}}, author = {Gregg, R.D. and Righetti, L. and Buchli, J. and Schaal, S.}, booktitle = {2010 10th {IEEE}-{RAS} {International} {Conference} on {Humanoid} {Robots}}, pages = {1--7}, publisher = {IEEE}, address = {Nashville, USA}, year = {2010}, doi = {10.1109/ICHR.2010.5686322}, url = {https://www.researchgate.net/profile/Ludovic_Righetti/publication/224211519_Constrained_accelerations_for_controlled_geometric_reduction_Sagittal-plane_decoupling_for_bipedal_locomotion/links/0912f513669a815995000000.pdf} }