@inproceedings{Righetti:2012vv,
  title = {Inverse dynamics with optimal distribution of contact forces for the control of legged robots},
  booktitle = {Dynamic Walking 2012},
  address = {Pensacola},
  year = {2012},
  slug = {righetti-2012vv},
  author = {Righetti, L. and Schaal, S.}
}