@article{dynamicallyconsistenttrajectoryoptimizat,
  title = {Dynamically-Consistent Trajectory Optimization for Legged Robots via Contact Point Decomposition},
  author = {Sangmin Kim and Hajun Kim and Gijeong Kim and Min-Gyu Kim and Hae-Won Park},
  year = {2025},
  eprint = {2510.24069},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.24069},
}