@inproceedings{righetti_quadratic_2012, title = {Quadratic programming for inverse dynamics with optimal distribution of contact forces}, author = {Righetti, L. and Schaal, S.}, booktitle = {2012 12th {IEEE}-{RAS} {International} {Conference} on {Humanoid} {Robots} ({Humanoids} 2012)}, pages = {538--543}, publisher = {IEEE}, address = {Osaka, Japan}, month = nov, year = {2012}, doi = {10.1109/HUMANOIDS.2012.6651572}, url = {https://ieeexplore.ieee.org/abstract/document/6651572/}, month_numeric = {11} }