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  author =		 "Herzog, A and  Righetti, L and  Grimminger, F and  Pastor, P and  Schaal, S",
  year =		 "2013",
  title =		 "Experiments with a hierarchical inverse dynamics controller on a torque-controlled humanoid",
  booktitle =		 "Arxiv preprint arXiv:1305.2042",
  key =			 "hierarchical control, inverse dynamics, locomotion, balance control, biped, contact interaction",
  URL =			 "",
  crossref =		 "p10576"

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