A convex model of humanoid momentum dynamics for multi-contact motion generation

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Authors: Brahayam Ponton, Alexander Herzog, Stefan Schaal, Ludovic Righetti

Journal title: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

Journal publisher: IEEE

Published year: 2016

Published pages: 842-849

DOI identifier: 10.1109/HUMANOIDS.2016.7803371

ISBN: 978-1-5090-4718-5