@inproceedings{4722, title = {Towards compliant humanoids: an experimental assessment of suitable task space position/orientation controllers}, author = {Nakanishi, J. and Mistry, M. and Peters, J. and Schaal, S.}, journal = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007)}, booktitle = {IROS 2007}, volume = {2007}, pages = {2520-2527}, editors = {Grant, E. , T. C. Henderson}, publisher = {IEEE Service Center}, organization = {Max-Planck-Gesellschaft}, school = {Biologische Kybernetik}, address = {Piscataway, NJ, USA}, month = nov, year = {2007}, doi = {10.1109/IROS.2007.4399562}, month_numeric = {11} }