@article{experimentalcomparisonofwholebodycontrol,
  title = {Experimental Comparison of Whole-Body Control Formulations for Humanoid Robots in Task Acceleration and Task Force Spaces},
  author = {Sait Sovukluk and Grazia Zambella and Tobias Egle and Christian Ott},
  year = {2025},
  eprint = {2507.18502},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2507.18502},
}