@inproceedings{gehring2017quadrupedal,
  title={Quadrupedal locomotion using trajectory optimization and hierarchical whole body control},
  author={Gehring, Christian and Bellicoso, C Dario and Fankhauser, P{\'e}ter and Coros, Stelian and Rutter, Marco},
  booktitle={International Conference on Robotics and Automation (ICRA), 2017 IEEE},
  pages={4788--4794},
  year={2017},
  organization={IEEE}
}

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