@article{learningtoexploitelasticactuatorsfor,
  title = {Learning to Exploit Elastic Actuators for Quadruped Locomotion},
  author = {Antonin Raffin and Daniel Seidel and Jens Kober and Alin Albu-Schäffer and João Silvério and Freek Stulp},
  year = {2022},
  eprint = {2209.07171},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.07171v3},
}