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  author =		 "Herzog, A. and Righetti, L. and Grimminger, F. and Pastor, P. and Schaal, S.",
  year =		 "2014",
  title =		 "Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics",
  booktitle =		 "Proceedings of the IEEE International Conference on Intelligent Robotics Systems",
  key =			 "contact interaction, humanoid robotics, inverse dynamics, torque control, whole body control",
  URL =			 "",
  crossref =		 "p10589"

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