@incollection{righetti_using_2013, title = {Using {Torque} {Redundancy} to {Optimize} {Contact} {Forces} in {Legged} {Robots}}, author = {Righetti, L. and Buchli, J. and Mistry, M. and Kalakrishnan, M and Schaal, S.}, booktitle = {Redundancy in {Robot} {Manipulators} and {Multi}-{Robot} {Systems}}, volume = {57}, pages = {35--51}, series = {Lecture {Notes} in {Electrical} {Engineering}}, publisher = {Springer Berlin Heidelberg}, year = {2013}, doi = {}, url = {https://link.springer.com/chapter/10.1007/978-3-642-33971-4_3} }