Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics. Herzog, A., Righetti, L., Grimminger, F., Pastor, P., & Schaal, S. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, September 14-18, 2014, pages 981–988, 2014.
Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics [link]Paper  doi  bibtex   
@inproceedings{DBLP:conf/iros/HerzogRGPS14,
  author    = {Alexander Herzog and
               Ludovic Righetti and
               Felix Grimminger and
               Peter Pastor and
               Stefan Schaal},
  title     = {Balancing experiments on a torque-controlled humanoid with hierarchical
               inverse dynamics},
  booktitle = {2014 {IEEE/RSJ} International Conference on Intelligent Robots and
               Systems, Chicago, IL, USA, September 14-18, 2014},
  pages     = {981--988},
  year      = {2014},
  crossref  = {DBLP:conf/iros/2014},
  url       = {https://doi.org/10.1109/IROS.2014.6942678},
  doi       = {10.1109/IROS.2014.6942678},
  timestamp = {Mon, 22 May 2017 01:00:00 +0200},
  biburl    = {https://dblp.org/rec/bib/conf/iros/HerzogRGPS14},
  bibsource = {dblp computer science bibliography, https://dblp.org}
}

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