@inproceedings{ho2010controlling,
  title={Controlling humanoid robots in topology coordinates},
  author={Ho, Edmond SL and Komura, Taku and Ramamoorthy, Subramanian and Vijayakumar, Sethu},
  booktitle={Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on},
  pages={178--182},
  year={2010},
  organization={IEEE}
}