@article{grimminger2020a,
  title = {An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research},
  journal = {IEEE Robotics and Automation Letters},
  volume = {5},
  number = {2},
  pages = {3650--3657},
  publisher = {IEEE},
  month = apr,
  year = {2020},
  author = {Grimminger, Felix and Meduri, Avadesh and Khadiv, Majid and Viereck, Julian and W{\"u}thrich, Manuel and Naveau, Maximilien and Berenz, Vincent and Heim, Steve and Widmaier, Felix and Flayols, Thomas and Fiene, Jonathan and Badri-Spr{\"o}witz, Alexander and Righetti, Ludovic},
  doi = {10.1109/LRA.2020.2976639},
  url = {https://arxiv.org/abs/1910.00093},
  month_numeric = {4}
}