Mason, S., Rotella, N., Schaal, S., & Righetti, L. (2016). Balancing and Walking Using Full Dynamics LQR Control with Contact Constraints. In 2016 IEEE-RAS 16th international Conference on Humanoid Robots (Humanoids 2016) (pp. 63-68). Piscataway, NJ: IEEE. doi:10.1109/HUMANOIDS.2016.7803255.