@INPROCEEDINGS{Mason2016, 
author={S. Mason and N. Rotella and S. Schaal and L. Righetti}, 
booktitle={2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)}, 
title={Balancing and walking using full dynamics LQR control with contact constraints}, 
year={2016}, 
volume={}, 
number={}, 
pages={63-68}, 
keywords={computational complexity;feedback;gait analysis;humanoid robots;hydraulic control equipment;legged locomotion;linear quadratic control;mechanical stability;quadratic programming;robot dynamics;torque control;trajectory control;balancing task;computational complexity;contact consistent LQR controllers;feedback control;full dynamics LQR control;humanoid dynamic behaviors;humanoid robot;hydraulic controlled humanoid;optimization-based whole-body controllers;robot DoF;robot dynamic relinearization;robot dynamics;torque controlled humanoid;trajectory control;walking task;Couplings;Dynamics;Humanoid robots;Legged locomotion;Robot kinematics;Trajectory}, 
doi={10.1109/HUMANOIDS.2016.7803255}, 
ISSN={}, 
month={Nov},}