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Conference Paper

A Convex Model of Humanoid Momentum Dynamics for Multi-Contact Motion Generation

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Brahayam,  Ponton
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Herzog,  Alexander
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Schaal,  Stefan
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Righetti,  Ludovic
Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society;

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Brahayam, P., Herzog, A., Schaal, S., & Righetti, L. (2016). A Convex Model of Humanoid Momentum Dynamics for Multi-Contact Motion Generation. In T. Asfour (Ed.), Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (pp. 842-849). New York, NY, USA: IEEE. doi:10.1109/HUMANOIDS.2016.7803371.


Cite as: http://hdl.handle.net/11858/00-001M-0000-002D-1962-4
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