@inproceedings{ponton_convex_2016, title = {A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation}, author = {Ponton, Brahayam and Herzog, Alexander and Schaal, Stefan and Righetti, Ludovic}, booktitle = {2016 {IEEE}-{RAS} 16th {International} {Conference} on {Humanoid} {Robots} {Humanoids}}, pages = {842--849}, publisher = {IEEE}, address = {Cancun, Mexico}, year = {2016}, doi = {10.1109/HUMANOIDS.2016.7803371}, url = {https://arxiv.org/abs/1607.08644} }