@inproceedings{herzog_structured_2016, title = {Structured contact force optimization for kino-dynamic motion generation}, author = {Herzog, Alexander and Schaal, Stefan and Righetti, Ludovic}, booktitle = {2016 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems} ({IROS})}, pages = {2703--2710}, publisher = {IEEE}, address = {Daejeon, South Korea}, year = {2016}, doi = {10.1109/IROS.2016.7759420}, url = {https://arxiv.org/abs/1605.08571} }