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@inproceedings{Nakanishi_ICRA_2007,
  author =		 "Nakanishi, J. and Mistry, M. and Schaal, S.",
  year =		 "2007",
  title =		 "Inverse dynamics control with floating base and constraints",
  booktitle =		 "International Conference on Robotics and Automation (ICRA2007)",
  URL =			 "http://www-clmc.usc.edu/publications/N/nakanishi-ICRA2007.pdf",
  pages =		 "1942-1947",
  crossref =		 "p2597"
}

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