@article{Mason2017,
  author    = {Sean Mason and
               Nicholas Rotella and
               Stefan Schaal and
               Ludovic Righetti},
  title     = {Balancing and Walking Using Full Dynamics {LQR} Control With Contact
               Constraints},
  journal   = {CoRR},
  volume    = {abs/1701.08179},
  year      = {2017},
  url       = {http://arxiv.org/abs/1701.08179},
  archivePrefix = {arXiv},
  eprint    = {1701.08179},
  timestamp = {Wed, 07 Jun 2017 14:41:42 +0200},
  biburl    = {http://dblp.org/rec/bib/journals/corr/MasonRSR17},
  bibsource = {dblp computer science bibliography, http://dblp.org}
}