Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled 
Humanoid

Herzog, Alexander; Rotella, Nicholas; Mason, Sean; Grimminger, Felix; Schaal, Stefan; Righetti, Ludovic

doi:10.1007/s10514-015-9476-6

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Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid

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

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Grimminger, Felix
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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Herzog, A., Rotella, N., Mason, S., Grimminger, F., Schaal, S., & Righetti, L. (2016). Momentum Control with Hierarchical Inverse Dynamics on a Torque-Controlled Humanoid. Autonomous Robots, 40(3), 473-491. doi:10.1007/s10514-015-9476-6.

Cite as: https://hdl.handle.net/11858/00-001M-0000-002D-19D7-B

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