@article{hakamata_ar2020, author = { Yuya Hakamata and Satoki Tsuichihara and Gustavo Alfonso Garcia Ricardez and Jun Takamatsu and Tsukasa Ogasawara }, title = {Pushing and pulling motion generation for humanoid robots using whole-body momentum control based on analytical inverse kinematics}, journal = {Advanced Robotics}, volume = {34}, number = {21-22}, pages = {1442-1454}, year = {2020}, publisher = {Taylor & Francis}, doi = {10.1080/01691864.2020.1817778} }