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@inproceedings{Righetti_DW_2012,
  author =		 "Righetti, L. and Schaal, S.",
  year =		 "2012",
  title =		 "Inverse dynamics with optimal distribution of contact forces for the control of legged robots",
  booktitle =		 "Dynamics Walking",
  key =			 "dynamics, control, inverse dynamics",
  crossref =		 "p10539"
}

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