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@inproceedings{herzogDW2014,
  author =		 "Herzog, A. and Righetti, L. and Grimminger, F. and Schaal, S.",
  year =		 "2014",
  title =		 "Experiments with Hierarchical Inverse Dynamics Controllers on a Torque Controlled Humanoid",
  booktitle =		 "Proceedings of Dynamic Walking",
  key =			 "balancing, humanoid robotics, optimal control, qp",
  URL =			 "http://www-clmc.usc.edu/publications/H/herzog-DW2014.pdf",
  crossref =		 "p10590"
}

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