@article{optimalcontrolofleggedrobotssubjectto,
  title = {Optimal Control of Legged-Robots Subject to Friction Cone Constraints},
  author = {Farhad Aghili},
  year = {2022},
  eprint = {2208.02393},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2208.02393v1},
}