@INPROCEEDINGS{Ho::IROS2010, author={Ho, E.S.L. and Komura, T. and Ramamoorthy, S. and Vijayakumar, S.}, booktitle={Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on}, title={Controlling humanoid robots in topology coordinates}, year={2010}, month={oct.}, volume={}, number={}, pages={178 -182}, keywords={Nao humanoid robot;angular momentum;center of mass;controlling humanoid robots;humanoid robot motion;inverse kinematics;linear programming procedure;motion synthesis;tangled interactions;topology coordinates;zero moment point;humanoid robots;linear programming;topology;}, doi={10.1109/IROS.2010.5652787}, ISSN={2153-0858},}