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  author =		 "Righetti, L. and  Buchli, J., Mistry, M. and  Kalakrishnan, M. and  Schaal, S.",
  year =		 "2013",
  title =		 "Using Torque Redundancy to Optimize Contact Forces in Legged Robots",
  booktitle =		 "Redundancy in Robot Manipulators and Multi-Robot Systems",
  key =			 "force control, redundancy resolution, locomotion",
  URL =			 "",
  crossref =		 "p10580"

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