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On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control

Karim Bouyarmane, Abderrahmane Kheddar. On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control. In 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), Osaka, Japan, November 29 - Dec. 1, 2012. pages 36-42, IEEE, 2012. [doi]

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