@article{viabilitypreservingpassivetorquecontrol,
  title = {Viability-Preserving Passive Torque Control},
  author = {Zizhe Zhang and Yicong Wang and Zhiquan Zhang and Tianyu Li and Nadia Figueroa},
  year = {2025},
  eprint = {2510.03367},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2510.03367},
}