@inproceedings{herzog_balancing_2014, title = {Balancing experiments on a torque-controlled humanoid with hierarchical inverse dynamics}, author = {Herzog, A. and Righetti, L. and Grimminger, F and Pastor, P. and Schaal, S.}, booktitle = {2014 {IEEE}/{RSJ} {Conference} on {Intelligent} {Robots} and {Systems}}, pages = {981--988}, publisher = {IEEE}, address = {Chicago, USA}, year = {2014}, doi = {10.1109/IROS.2014.6942678}, url = {https://arxiv.org/abs/1305.2042} }