@inproceedings{ponton_time_2018, title = {On Time Optimization of Centroidal Momentum Dynamics}, author = {Ponton, Brahayam and Herzog, Alexander and Del Prete, Andrea and Schaal, Stefan and Righetti, Ludovic}, booktitle = {2018 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})}, pages = {5776--5782}, publisher = {IEEE}, address = {Brisbane, Australia}, year = {2018}, doi = {10.1109/ICRA.2018.8460537}, url = {https://arxiv.org/abs/1709.09265} }