@article{grimminger2020a, title = {An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research}, author = {Grimminger, Felix and Meduri, Avadesh and Khadiv, Majid and Viereck, Julian and W{\"u}thrich, Manuel and Naveau, Maximilien and Berenz, Vincent and Heim, Steve and Widmaier, Felix and Flayols, Thomas and Fiene, Jonathan and Badri-Spr{\"o}witz, Alexander and Righetti, Ludovic}, journal = {IEEE Robotics and Automation Letters}, volume = {5}, number = {2}, pages = {3650--3657}, publisher = {IEEE}, month = apr, year = {2020}, doi = {10.1109/LRA.2020.2976639}, url = {https://arxiv.org/abs/1910.00093}, month_numeric = {4} }