@INPROCEEDINGS{Mason2014, 
author={S. Mason and L. Righetti and S. Schaal}, 
booktitle={2014 IEEE-RAS International Conference on Humanoid Robots}, 
title={Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting}, 
year={2014}, 
volume={}, 
number={}, 
pages={374-379}, 
keywords={angular momentum;controllers;feedback;humanoid robots;linear quadratic control;mobile robots;motion control;position control;robot dynamics;stability;torque control;angular momentum;balance controllers;balancing experiments;contact constraints;disturbance rejection behavior;full dynamics LQR control;human environments;humanoid robot;impulse rejection;linear quadratic regulator;linearized dynamics;optimal feedback controllers;precise tracking;push recovery behavior;squatting trajectory tracking;torque controlled humanoid;whole-body controllers;Aerospace electronics;Couplings;Dynamics;Humanoid robots;Iron;Joints}, 
doi={10.1109/HUMANOIDS.2014.7041387}, 
ISSN={2164-0572}, 
month={Nov},}