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