@inproceedings{righetti_inverse_2011, title = {Inverse {Dynamics} {Control} of {Floating}-{Base} {Robots} with {External} {Constraints}: a {Unified} {View}}, author = {Righetti, L. and Buchli, J. and Mistry, M. and Schaal, S.}, booktitle = {2011 {IEEE} {International} {Conference} on {Robotics} and {Automation}}, pages = {1085--1090}, publisher = {IEEE}, address = {Shanghai, China}, year = {2011}, doi = {10.1109/ICRA.2011.5980156}, url = {https://ieeexplore.ieee.org/abstract/document/5980156/} }