@incollection{righetti_momentum-centered_2017, title = {Momentum-{Centered} {Control} of {Contact} {Interactions}}, author = {Righetti, Ludovic and Herzog, Alexander}, booktitle = {Geometric and {Numerical} {Foundations} of {Movements}}, volume = {117}, pages = {339--359}, series = {Springer {Tracts} in {Advanced} {Robotics}}, publisher = {Springer, Cham}, year = {2017}, doi = {}, url = {https://link.springer.com/chapter/10.1007/978-3-319-51547-2_14} }