@inproceedings{mason_balancing_2016, title = {Balancing and {Walking} {Using} {Full} {Dynamics} {LQR} {Control} {With} {Contact} {Constraints}}, author = {Mason, S and Rotella, N and Schaal, S. and Righetti, L.}, booktitle = {2016 {IEEE}-{RAS} 16th {International} {Conference} on {Humanoid} {Robots} ({Humanoids})}, pages = {63--68}, publisher = {IEEE}, address = {Cancun, Mexico}, year = {2016}, doi = {10.1109/HUMANOIDS.2016.7803255}, url = {https://arxiv.org/abs/1701.08179} }