@inproceedings{rotella_humanoid_2015, title = {Humanoid {Momentum} {Estimation} {Using} {Sensed} {Contact} {Wrenches}}, author = {Rotella, N and Herzog, A. and Schaal, S. and Righetti, L.}, booktitle = {2015 {IEEE}-{RAS} 15th {International} {Conference} on {Humanoid} {Robots} ({Humanoids})}, pages = {556--563}, publisher = {IEEE}, address = {Seoul, South Korea}, year = {2015}, doi = {10.1109/HUMANOIDS.2015.7363417}, url = {https://arxiv.org/abs/1507.04401} }