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

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.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-002D-19D7-B Version Permalink: https://hdl.handle.net/11858/00-001M-0000-002D-19D8-9

Genre: Journal Article

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Creators:
Herzog, Alexander¹, Author
Rotella, Nicholas², Author
Mason, Sean², Author
Grimminger, Felix¹, Author
Schaal, Stefan¹, Author
Righetti, Ludovic¹, Author

Affiliations:
1Dept. Autonomous Motion, Max Planck Institute for Intelligent Systems, Max Planck Society, ou_1497646
2External Organizations, ou_persistent22

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Free keywords: Abt. Schaal

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Language(s): eng - English

Dates: Published Online: 2016-03

Publication Status: Published online

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Identifiers: BibTex Citekey: Herzog-AR-2015
DOI: 10.1007/s10514-015-9476-6

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Title: Autonomous Robots

Source Genre: Journal

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Publ. Info: New York, NY, USA : Springer US

Pages: - Volume / Issue: 40 (3) Sequence Number: - Start / End Page: 473 - 491 Identifier: ISSN: 0929-5593
CoNE: https://pure.mpg.de/cone/journals/resource/954925568789