@article{righetti_optimal_2013, title = {Optimal distribution of contact forces with inverse-dynamics control}, author = {Righetti, L. and Buchli, J. and Mistry, M. and Kalakrishnan, M. and Schaal, S.}, journal = {The International Journal of Robotics Research}, volume = {32}, number = {3}, pages = {280--298}, month = mar, year = {2013}, doi = {10.1177/0278364912469821}, url = {https://www.researchgate.net/publication/235771029_Optimal_distribution_of_contact_forces_with_inverse_dynamics_control}, month_numeric = {3} }