@inproceedings{ramos2012walking,
  title     = {Walking on non-planar surfaces using an inverse dynamic stack of
                  tasks},
  author    = {Ramos, Oscar E and Mansard, Nicolas and Stasse, Olivier and
                  Sou{\`e}res, Philippe},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots
                  (Humanoids)},
  pages     = {829--834},
  year      = {2012},
  month     = {November},
  address   = {Osaka, Japan},
}