@article{torqueminimizingcontrolallocationfor,
  title = {Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion},
  author = {Mads Erlend Bøe Lysø and Esten Ingar Grøtli and Kristin Ytterstad Pettersen},
  year = {2024},
  eprint = {2404.04156},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2404.04156v1},
}